Robot_localization gps use only fix messages
Hello,
I was able to set up robot_localization to fuse wheel odometry, imu and rtk gps data of my two wheeled robot. It was a hard task to fuse imu, but after using vyaw only, it works https://github.com/HoverMower/ROSMowe...
However, my robot is equipped with RTK GPS. Right after startup, there is no gps fix solution. So my robot jumps around until a fix is available. While waiting for fix, I can travel around but localization is not exact for sure. As robot_localization subscribes to NavSatFix message, can we only fuse messages with gps status > 0, meaning only messages with a fix? Or do I need to Code a node which only re-publishes these messages?
Alternatively, gps driver provides a ublox/navrelposned message which contains the difference between base station and robot in X,Y,Z. Is is possible to fuse these data instead real gps data? Maybe by also a small node which publish them as odometry message?
Couldn't find an example with rtk gps.
BR Patrick