Timeline for How to create GPS-aligned 2D LIDAR maps in ROS using RTK GPS ground truth?
Current License: CC BY-SA 4.0
8 events
| when toggle format | what | by | license | comment | |
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| Nov 12 at 14:20 | answer | added | Mike973 | timeline score: 0 | |
| Nov 12 at 0:43 | comment | added | catflaps | The odom to map frame transform is an ekf that takes the absolute gps heading (we get 5hz yaw from the two differential gps antennae), fused with odom / imu / magnetometer (as differential, not absolute) at a higher rate. Tbh the ekf isn't as stable as it could be and that accounts for some of the jitter for sure (magnetometers are a bit crap). I'm working on that. Still looking for a way to produce a localizable map that is true to gps though. | |
| Nov 11 at 13:27 | comment | added | Mike973 | As the odom pose accumulates error, what method is being used to correct the robot's yaw in the map frame? | |
| Nov 11 at 0:02 | comment | added | catflaps | I get gps fix and heading at 5hz, so using just gps could be viable, since Lidar scans are 10hz and the movement speed is only about ~1m/s. Odom (through EKF @ 25hz) is okay, though there's a constant 2~5 deg of yaw jitter. | |
| Nov 10 at 14:55 | comment | added | Mike973 | When creating the map, how often do you receive a GPS reading? Is the robot odometry (i.e. odom -> base_link) good between GPS readings? | |
| Nov 8 at 0:34 | history | edited | catflaps | CC BY-SA 4.0 |
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| S Nov 7 at 22:27 | review | First questions | |||
| Nov 21 at 22:35 | |||||
| S Nov 7 at 22:27 | history | asked | catflaps | CC BY-SA 4.0 |