Questions tagged [gps]
GPS (Global Positioning System) is an outdoor localization system that measures time of flight of a radio signal from a number of satellites in earth orbit.
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Can robot_localization package work well with just an IMU and a GPS?
Can robot-localization work with IMU and GPS for accurate localization? I have a highly accurate RTK-GPS. Is there a way to create the ekf config file such that the GPS data is used along with the IMU ...
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Couldn't find executable named microstrain_mips_node
I installed ROS microstrain_mips using git clone in my workspace. Here is the Wiki page of the package. However, my current ROS ...
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GPS integration to ROS via Arduino
Please I have some problems with this.
I am a beginner.
I want to send GPS data from a GPS connected via arduino to ROS.
My code arduino is as below:
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Run navsat_transform_node without odometry
My (marine) robot has GNSS and and IMU, but no means to measure odometry (which is an estimate of local motion afaik)
I am looking for my robot's state expressed as tf2 in a predefined local, world-...
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Guide Drone using GPS
I am new to drone building and developing. I am using Cube Orange plus and gps module from company Taoglas. My GPS is fixed few cm above esc. The drone is drifting too much when I am keeping it at a ...
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GPS+Navigation2 : Issues navigating with an empty map after success with a pre-built map: "Received plan with zero length"
I've been working on a project using the Navigation2 stack to navigate a robot through GPS waypoints. When using a pre-built map, the robot successfully navigates to all waypoints. However, I ...
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robot_localization global ekf node(GPS) and local ekf node(odom) cause shifting of base link tf frame?
I have a problem with my robot with GPS.
I have a Scout robot with F9P gps device getting gps and having dual ekf node which have the following config file. But once I launch these nodes and visualize ...
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Fusing GPS+IMU without heading or odom measurements
I need to fuse GPS+IMU to make a trajectory I can refer to in post processing, hopefully with velocity estimates as well.
I was looking into the robot_localization ...
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nmea_serial_driver: GPS device is giving same lat/lon reading
background info
ros2 - galactic, Cyclone
Note: The laptop is disconnect from wifi during testing, just to avoid any problem caused by poor wifi connection outdoor.
question
I am having a very strange ...
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Issues with Goal Pose Setting using SLAM in Nav2 Stack for GPS-based Navigation
I am currently working on a GPS-based navigation solution to send latitude and longitude (converted to odom local coordinate system by navsat_transform_node) as a goal pose and use the Nav2 stack to ...
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EKF of robot_localization have a delay compared to GPS data
I am using ros2 humble and the extended Kalman Filter from the robot_localization package to get both the odom -> base_link and ...
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EKFSLAM with LiDAR and IMU + GPS localization module
There are many resources that relate to EKFSLAM based on the presence of only a LiDAR unit, which localize both the vehicle and the detected landmarks.
I see that they often use state vectors that get ...
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Using Here3+ for GNSS information, missing documentation?
The Here3+ is a GNSS receiver often used by drones, specifically the pixhawk. I wanted to use this receiver in my own project for geopositioning, I am however completely unable to find any ...
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Conversion of roll, pitch and yaw from ENU to NED
I have roll, pitch and yaw values in an ENU frame.
How can I convert it into a NED frame?
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How can I set the sample rate/frequency for a Webots GPS module?
I'm trying to simulate a GPS module I have on a real robot (using ROS 2) which has a position update rate of 1Hz. Is it possible to set this in a GPS device? I'm importing the device directly to ...
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Compensate tractor's (vehicle's) tilts in the GNSS-IMU based system
I have the following setup: a tractor with a dual band antenna (from ublox) installed on the vehicle's symmetry axis on the roof (h=3m), approx. 1m ahead of the center of the rear axis (which I ...
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How to deal with asynchronous samples in a kalman filter framework multi-sensor fusion?
I have setup a sensor fusion problem to estimate a classical 2d position + orientation of a wheeled mobile robot in an embedded environment.
Sensor measurements include:
IMU (6axis accl+gyro) @ 40Hz
...
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How to transform given latitude and longitude data to map frame
I am working with a multi sensor RTK-GNSS for localization of my robot.
This is the data I am getting from the GNSS system.
How to relate this data to my robot map frame for navigation?
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odom frame keeps moving in ROS GPS robot_localization
I am using two instances of ROS robot_localization package to get the local and global odometry. In the local one, I am fusing IMU and twist messages. It is working fine. But when I use the second ...
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Declination usage in navsat_transform
I am running the navsat_transform node using a set datum point to get (x,y) coordinates in the map frame.
I am inputting the same GPS lat/long values, just changing the declination.
Using 0.0 for the ...
hapy-capy
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Any Ideas what could be causing this error from a launch file? - TCPROS
I am converting the ros-trimble-bd960 package to read from a socket rather than serial port. I thought this was pretty straight forward as they read the same type of data but I just needed to change a ...
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Synchronize GPS orientation with cameras
I'm interested in using GPS system to generate ground truth for evaluation of some SLAM systems I am testing.
I'm confused on how I can initialize the location and orientation of the GPS unit to be ...
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GPS to Cartesian
I'm interested in turning GPS position into Cartesian, I want to then transform it so the starting point is the origin.
Anyone have experience with this?
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Simulate GPS IMU With Quadcopter Swarm?
I have multiple drones work in swarm formation, i made the quadcopter model and the swarm one. Until now i have the swarm moving in a formation leader-follower and track a predefined trajectory based ...
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How to fuse GPS and lidar odometry by using robot_localization?
Hi, I want to fuse my lidar odometry and GPS by using robot_localization. But the installation position between Lidar and GPS is 20cm,20cm,10cm. Maybe we will make changes to this installation ...
JACKLiuDay
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Is there a way to use a GPS message to set computer date and time
I'm working on a robot with a GPS and an OBC. I need to set up the date/time of the OBC each time it boots. I would like to use the GPS ros driver/navsatfix message to do that. Is there a package or a ...
elgarbe
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How to use Nav2, slam_toolbox with odom data, gps and imu sensors?
Setup details: ROS2 foxy on amd64 architecture CPU with nav2 and slam_toolbox installed
Robot is Clearpath husky with Velodyne VLP-16 lidar, IMU and GPS sensor in gazebo. Can see data on every topic
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No module named gps_goal
Cloned gps_goal into my catkin workspace, catkin_make didn't return any error. When running the following command, it returns an importerror
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noname
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Yaw shifting on not moving outdoor robot with robot localization
I am using robot_localization package for the localization of a robot placed outdoors and equipped with RTK GPS, wheel odometry and IMU.
When the robot is placed somewhere and is not moving, I can ...
kosmastsk
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Differential robot model on robot_localization to enhance IMU heading with GPS
Hi!
According to the robot_localization docs it is my understanding that the EKF uses an omnidirectional motion model.
I'm running robot_localization on a custom differential robot with the setup ...
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How do I handle yaw wrapping when implementing a simple GPS lever arm correction?
I am trying to implement a lever arm correction. I have an aircraft with a gps antenna which is displaced from an on-board sensor whose GPS position I would like to know.
I have the distance from the ...
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Why odom/filtered output on map frame is moving?
Hello, im working on a navigation system.
I am using two instances of ekf filter from robot_localization package. I am obteinig that in the "odom" frame, i receive the gps signal with the ...
Johart24
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Why does the HG4930 IMU have better specifications than the HG1700, even though it's almost certainly worse?
I was browsing and looking at different IMUs and came upon the following Honeywell page:
https://aerospace.honeywell.com/us/en/learn/products/sensors/inertial-measurement-units
There they have a table ...
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GPS antenna not in the center
Hi.
To put it simply, I want robot_localization's / odometry / gps to start at (x, y, z) = (0, 0.3, 0) instead of (0, 0, 0).
I'm trying to get the robot to estimate its position.
It worked generally ...
Awt
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Aligning the coordinate systems of accelerometer and vehicle
I have an accelerometer located in an arbitrary position on a car. As the accelerometer already has a coordinate system by default, I want to find some method that allows transforming the data I have ...
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Reading data from Topic
I am using a GPS plugin on my model. I know it works as I have tested by using
rostopic echo gps_out
and it continually outputs data in the NavSatFix form.
I am ...
Jord
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Locating nearest device position
I have the following use case:
Given a set of points in a space, I would like to use a smartphone to detect and locate the closest point (Possibly accurate to the at least a meter range)
I am not ...
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Determine road curvature radius using non GPS sensors
I’m trying to solve for the “curvature” of a road, and wondering if this can be done with a standard mobile phone.
If I have a mobile phone fixed onto my vehicles windscreen, using only standard ...
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navsat_transform_node geographicErr
Hello,
I am usinf the robot_localization_package to localize a differential drive robot. In my setup, I follow the guidelines of the package documentation about fusing the GPS with dead reckoning and ...
GiacomoDario
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GPS+IMU sensor fusion not based on Kalman Filters
Do you know any papers on or implementations of GPS + IMU sensor fusion for localization that are not based on an EKF (Extended Kalman Filter) or UKF (Unscented Kalman Filter)?
I'm asking is because
...
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how to calculate the accuracy of data received from RTK-GPS?
I have received data from an RTK-GPS, in an environment free from buildings and other GPS obstructions. the covariance of these data is 0.01. now I do not know this is good or not? How can I find out ...
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robot_localization transform from map to odom drifts
Hi, I am trying to set up robot_localization on an outdoor mobile robot that I am building from scratch. The vehicle is a four wheeled mobile robot and the onboard computer is a Raspberry Pi 3 with a ...
gmsanchez
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Scale factor of Monocular SLAM (Simultaneous Localization and Mapping )
I am using ORB-SLAM3 with a monocular camera on a drone for Augmented Reality application. I need to know the absolute scale of the map formed by the SLAM.
I cannot use a stereo or RBG-D setup. Tthe ...
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Faulty GPS data on Serial Monitor
I am trying to interface Stonex S900A GPS with nVidia TX2 which has ROS melodic installed. The GPS data cable is a DB9 type (RS232). I connected a DB9 to USB converter with the cable and connected it ...
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GPS navigation and Arduino ECU
Does Autoware.Auto support the Arduino ECU? Additionally is there a link to compatible ECUs somewhere
Also does it support GPS based navigation? I wanted to try using it in a racetrack situation like ...
sisaha9
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Localization and Mapping in a Small Crop Field
I have a small crop field inside my house and I want to create a map of it. The goal is to create a map so that I can monitor the growth of the plants and do some post processing to analyze the ...
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Navsat node not publishing any data in a system that doesn't publish odometry
I am trying to use a gps and imu for localization of a gazebo simulated robot. For this I am using navsat and ekf nodes. But my navsat node is always publishing zero.
The error message I am receiving ...
HELPme
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GPS Course vs IMU Course
Im currently working with Kalman Filter for position and velocity, one of the important parameters that im using is the heading that the sensor fusion of the imu gives me, but i have seen that the GPS ...
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Do I need the same RTK reciever if I want to implement RTK?
I bought an RTK receiver, only one because I wanted to do some testing before I invested in two receivers. I found one I like more, but if I have two different recievers will the accuracy be reduced ...
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Robot_localization services /toLL and /fromLL respond with different result
I am using the robot_localization package and in the terminal, I run the services /fromLL and /toLL for the same position. But the results do not agree.
Specifically, running:
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kosmastsk