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implementing SLAM while using GPS map

asked 2021-07-20 03:28:53 -0500

Delbina gravatar image

updated 2021-07-21 07:19:57 -0500

Hi everyone,

Does anybody know how to implement navigation based on GPS while using SLAM?! I do not know how to implement SLAM while using GPS? I would be grateful if anybody can support me. any document /tutorial or video is appreciated.

Thanks a lot

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answered 2021-07-25 12:03:10 -0500

fergs gravatar image

One possible approach would be to use robot localization to covert the GPS into TF frames. See this tutorial. This effectively would give you an odom frame and then you basically have the same setup as most indoor robots when doing SLAM (assuming you are on mostly flat ground).

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Thanks a lot, I know about this robot_localization pkg. I want to do autonomous mapping and navigation at the same time based on GPS. I want to do outdoor navigation.

Now I am confused that how is it possible to merge SLAM (for instance rtabmap), with robot_localization pkg which create map->odom and odom-> base_link.

It seems that if I use robot_localization pkg, it is not possible to use SLAM and mapping part is not autonomous.

Delbina gravatar image Delbina  ( 2021-07-25 12:24:32 -0500 )edit

robot_localization is a poor name - it doesn't do "localization" in the classical sense of SLAM. It really is just an EKF/UKF implementation that helps you fuse sensors (odometry, IMU, GPS) to get the base_link -> odometry transform. The odometry -> map transform is what SLAM gives you.

fergs gravatar image fergs  ( 2021-07-25 12:30:47 -0500 )edit

for navigation based on GPS, it necessitates to implement robot_localization pkg two time, once for the fusion of imu and wheel odometer, which provides odom-> base_link frame, and in the other implementation for the fusion of Imu, wheel odometer, and GPS, which provides map->odom frame. so in this case when all the frames have been created it seems we cannot use SLAM(at least i don't know). now my question is that: Is it possible to do autonomous mapping and navigation based on GPS? if yes, for the mapping part am I able to use Rtabmap or any other kind of SLAM?

Delbina gravatar image Delbina  ( 2021-07-25 15:08:57 -0500 )edit

let me ask another question, I have seen in some of the works they applied robot_localization packages (two instances), and gmapping. how is it possible to use gmapping and use robot_localization pakage which has created all the frames! (map > odom and odom> base-link)

Delbina gravatar image Delbina  ( 2021-07-26 02:34:29 -0500 )edit

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Asked: 2021-07-20 03:28:53 -0500

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Last updated: Jul 25 '21