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How to fuse imu and gps using robot localization package.

Imu and GPS fusion without odom robot localization package.

Robot localization navsat transform node does not publish.

ROS Extra Class #2: How to use GPS to do autonomous robot navigation?.

IMU GPS Localization: Using EKF to fuse IMU and GPS data.

Eagle Eye for GPS & IMU Fused Odometry.

Lattitude, Longitude & Altitude to Pose Stamped.

If you want to convert /navsat/fix topic from gps sensor to /navsat/odom topic (local cordinate frame), use these 2 packages directly:

gps_waypoint_mapping to combine waypoint navigation with Mandala Robotics' 3D mapping software for 3D mapping.Ĭonvert lattitude-longitude to local odometry message.

plot_gps_waypoints to save raw data from the GPS for plotting purposes.

calibrate_heading to set the heading of the robot at startup and fix issues with poor magnetometer data.

collect_gps_waypoint to allow the user to drive the robot around and collect their own waypoints.

gps_waypoint_continuous2 for continuous navigation between waypoints using another seperate controller.

gps_waypoint_continuous1 for continuous navigation between waypoints using one controller.

gps_waypoint to read the waypoint file, convert waypoints to points in the map frame and then send the goals to move_base.

The Navigation package within this repo includes the following custom nodes:

goals are set using recorded or inputted waypoints.

move_base to navigate to the goals while avoiding obstacles.

GMapping to create a map and detect obstacles.

navsat_transform to convert GPS data to odometry and to convert latitude and longitude points to the robot's odometry coordinate system.

ekf_localization to fuse odometry data with IMU and GPS data.

This package uses a combination of the following packages: When the run is finished, press "RB" to start following waypoints. The waypoints will be saved inside 'points_outdoor.txt'. During the run, press "LB" to start collecting waypoints. Roslaunch gps_waypoint_nav joy_launch_control.launch