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2019-05-20 01:04:07 -0500 marked best answer How to set up robot_localization with gmapping, IMU and GPS

Hello

I am planning to use robot_localization to localize my boat, equipped with a 2D laser scanner, 9 dof IMU and GPS. My plan was to use 1 kf_localization_node that has, as inputs, the output of the gmapping node and the IMU data. If there is no laser data available (the boat may be floating in water without close walls), I would close that node and I would use another kf_localization_node to fuse GPS data (with navsat_transform_node) with IMU data. So GPS and Gmapping would never work at the same time.

Is this a good approach? Or is there an easy way to use gmapping, GPS and IMU data at the same time?

Thanks in advance!

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2018-04-15 09:09:30 -0500 commented answer How to set up robot_localization with gmapping, IMU and GPS

I have no map, so I want to use SLAM to make a map and localize in it. The pose estimation from the gmapping package is

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2018-04-12 06:16:06 -0500 commented answer robot_localization and gmapping - how the transform should be done?

Ok, I have posted my question: https://answers.ros.org/question/288429/how-to-set-up-robot_localization-with-gmapping-im

2018-04-12 06:14:51 -0500 asked a question How to set up robot_localization with gmapping, IMU and GPS

How to set up robot_localization with gmapping, IMU and GPS Hello I am planning to use robot_localization to localize m

2018-04-09 04:07:21 -0500 commented answer robot_localization and gmapping - how the transform should be done?

Ok, thanks for the reply! If I understand it correctly, it's not a good idea to use gps in combination with gmapping. Is

2018-04-08 03:29:52 -0500 commented answer robot_localization and gmapping - how the transform should be done?

Hello Tom Moore How would you handle this problem if you had gmapping, imu and GPS? Is it possible to use the gmapping

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2018-04-02 14:22:58 -0500 commented question robot_localization and gmapping - how the transform should be done?

Hey, Ago and Deep, did you get your setup to work?

2018-04-02 14:22:47 -0500 commented question robot_localization and gmapping - how the transform should be done?

Hey, Ago or Deep, did you get your setup to work?

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2018-03-21 06:06:33 -0500 marked best answer How to convert IMU data to quaternion orientation

Hello

I'm trying to fuse my IMU data (and GPS data) with the package robot_localization. Therefore, I have to put my IMU data into a sensor_msgs/Imu message. I know it is possible to convert my IMU data (accelerometer, gyroscope and magnetometer) into a quaternion orientation message. However, I wonder if there is a package available to do this transformation for me, or do I have to write code myself? If so, how would I start?

Thanks in advance! Kind regards Robbe

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2018-03-21 06:06:22 -0500 commented answer How to convert IMU data to quaternion orientation

Thank you for the quick respone! I think you are talking about the use_odometry_yaw parameter of navsat_transform_node,

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2018-03-20 11:57:58 -0500 asked a question How to convert IMU data to quaternion orientation

How to convert IMU data to quaternion orientation Hello I'm trying to fuse my IMU data (and GPS data) with the package