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Transform GPS pose to map frame in robot_localization

asked 2021-03-18 01:53:20 -0500

James Wang gravatar image

I tried to using navsat_transform_node in robot_localization to transform gps/fix to the map frame and further fuse with pose estimate provided by SLAM or point cloud matching. I input three topics GPS measurement (gps/fix), SlAM measurement (odometry/filtered) and IMU measurement (imu/data) to navsat_transform_node. However, the output of navsat_transform_node, odometry/gps, did not align well with the SLAM measurement (odometry/filtered). It looks like that odometry/gps was not well transformed to the map frame. Did I miss something in using this node? How to do this transformation correctly?

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Have you checked your tf tree? What is the frame for your slam measurements? Who is publishing map->odom?

xaru8145 gravatar image xaru8145  ( 2021-03-23 06:50:12 -0500 )edit

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answered 2021-04-27 04:13:40 -0500

Tom Moore gravatar image

I'm going to need a lot more information.

  • What SLAM package are you using?
  • Please provide your config for navsat_transform_node
  • Please provide a sample message for every input

However, I can tell you now that if you are actually performing live SLAM and trying to integrate GPS data, I don't think it's going to work well. Depending on your SLAM package, I would assume that once you have a loop closure, your map origin could change. Whatever transform navsat_transform_node computes at the start would therefore be invalid.

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Asked: 2021-03-18 01:53:20 -0500

Seen: 94 times

Last updated: Apr 27