odom and base_link frames are far - localization
I have an imu and gps only and i want use them for localization. I am using robotlocalization ekf node. its setting is similar to this. when I view the tf on rviz, odom tf and baselink tf are far away from each other. I do not understand why?
1) why they are far from each other?
2) how to make sure that my robot is localizing correctly?
3) I do not understand how gps's data and odom are related. like when I view it on rviz odom will be at origin right? but how it is related to the gps coordinates?
Asked by sal on 2022-04-21 03:44:22 UTC
Answers
- Odom frame is fixed in a given map, and its origin is at starting position of the robot. when you move your robot around base_link changes (base link attach to the robot) , but Odom will remain fixed wrt to the given map. similar question asked here odom-not-aligned-with-base-link
- I think you need to amcl amcl package for localization ,you can also look at here gps_amcl ,this gps_amcl package is based on amcl which uses gps data to localize, you can take a hint from there.
Asked by prajwal98 on 2022-04-21 16:54:55 UTC
Comments
Thank you for responding. I have some questions about gps_amcl I did not get how the map is related to the gps data in this package?
like how the actual longitude and latitude are related to the map?
Asked by sal on 2022-04-23 17:32:34 UTC
Comments