[Noetic]What I need to do to estimate the robot's self location using GPS data.
I have recently started studying ROS on my own. Therefore, I may have a wrong understanding of ROS. Please let me know if I am wrong.
[I want to do]
I want to use GPS information (latitude and longitude: sensor_msgs/NavSatFix) to perform autonomous movement of the robot.
[QUESTION]
I have been studying about ROS and have come across a few things that are unclear to me, so please let me know if you can help.
First I will write about what I understand. (I may be wrong...)
Use Navigation Stack.
[map_server]
Create Global Map with map_server.
[move_base]
Set the size (footprint) of the robot with move_base.
Set the information of sensors used to determine obstacles, global planner, local costmap, and local planner in move_base.
[cmd_vel]
Sends a move command to the robot body.
[robot_localization]
Estimates the robot's location using IMU and GPS information.
Next, I will describe what I do not understand.
- Is what I have shown above correct?
- Is it possible for the robot to estimate its own position and move autonomously using only the robot, IMU, and GPS receiver? (I intend to use Depth Camera for obstacle detection.)
- I have a question about the mechanism of self-position estimation by GPS information. Is it a mechanism to estimate self-position by expressing the latitude and longitude of the initial value and the latitude and longitude of the current location in coordinates of a plane rectangular coordinate system, and then generating the difference between them?
- I don't know if the package on the following site is available for noetic as it is from kinetic, does this package use Rviz? Or does the robot run automatically when the launch file is started? http://wiki.ros.org/gps_goal
I have just started learning about ROS and there are so many things I don't understand that I am not sure if I am asking the right questions.
Please, I would appreciate it if you could help me.
Thank you.
