Hello,
I’m trying to integrate a GPS sensor to my mobile robot with the robot_localization node.
I have an IMU sensor added to my robot_localization node but now I have some theoretical questions about how to integrate the GPS.
I would like to use the output of the robot_localization node to feed the move_base node in order to set some waypoints in GPS coordinates (can be in UTM) and then the robot follow them.
I’m a bit lost about how to proceed. This is what I think.
I launch ek_localization_node with this inputs: IMU and wheel_odom. And I remap the output topic to local_odometry. It'll be the local odometry in odom frame. (I must use this topic to input to move_base if I want to navigate in odom frame).
Then I launch navsat_transform_node with IMU, wheel_odom, and GPS NavSatFix and the output topic in world frame is /odometry/gps. But this topic is publishing only when the GPS signal is received so...
I launch another ekf_localization node with IMU,Wheel_odom and odom1 (/odometry/gps from navsat_transform node). The output of this node (/odometry/filtered) is in world frame and is what I have to put as input to move_base, right?
With this configuration I don’t need to use gps_common, right?
When I launch all, I have to call the service set_pose in order to give some estimation pose in UTM coordinates to /odom in base to /world, isn’t?
All's right theoretically?
Any ideas, corrections or suggestions would be appreciated.
Best regards and thanks in advance.
↧