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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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Conversion from body frame to NED frame

I have following Python code: ...
RajS's user avatar
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1 answer
20 views

How to Extend the Reach of Global Path Planning in Nav2 for Large Open Areas?

My operational environment is a vast bayland terrain, where the robot needs to navigate effectively over long distances between waypoints (In Red). Issue Description: My global planner struggles to ...
Marcus Vinicius's user avatar
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Can't get velocity bridging navsat plugin to ROS2 Humble

Although I can see the position (latitude, longitude, altitude) and ENU velocity in Gazebo Garden, I can't bridge them to ROS 2. I can only see position measurements but I need both, how can I solve ...
Tony's user avatar
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Nav2 and Robot_localization: /map Topic Is Not Getting Published

I tried to create a navigation algorithm using nav2 and GPS data for the global odometry. With the help of the robot_localization package, I successfully created global odometry data by fusing the ...
Arad's user avatar
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Nav2 Gps-RTK without map - Navigation with Waypoint

I have a problem with the local costmap and global costmap concerning the position of the sensors, the error generated is ...
Salvatore Occhipinti's user avatar
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8 views

How do I use the WorldInfo gpsReference? It doesn't work as expected

I'm experiencing some challenges trying to get a realistic GPS output from my simulation. I'm based in New Zealand so my real-world Lat/Long is in the -40.3789 and 175.6129 range in WGS84, but when I ...
Craig MS's user avatar
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36 views

Robot_localization - GPS heading problem

I hope someone can help me I'm using robot_localization to improve my location estimation using the following ekf nodes ekf_node_odom: odometry + IMU ekf_node_map: odometry + IMU + GPS the first ...
Supermax182's user avatar
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17 views

Gazebo GPS Noise Model

What is the Gazebo GPS Sensor Noise Model based on? It looks like a Random Walk through the code, but would be great if I could get some confirmation about it. Also, is HDOP and VDOP (DOP - dilution ...
Ishaan Mahajan's user avatar
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Add covariance to gazebo sensors in ROS2 Gazebo Garden

Currently my ROS2 simulation doesn't populate non-zero a covariance for /imu/data or /gps/fix. I would like to have covariance ...
Bhooshan Deshpande's user avatar
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34 views

robot_localization performance with two IMU+GPS combinations

I use the same config file to compare the performance of two different IMU+GPS fusion for the same experiments. The performance of one pair of the IMU+GPS sensor fusion performs great when ...
Ishaan Mahajan's user avatar
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1 answer
93 views

Robot_Localization Local/Global ekf nodes

I have a doubt regarding the use of Robot_localization. I was watching this tutorial: https://navigation.ros.org/tutorials/docs/navigation2_with_gps.html in my case I have a real robot (equipped with ...
Supermax182's user avatar
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1 answer
30 views

GPS timestamp vs ROS2 time

I'm using an ardusimple board, it has an ublox f9p receiver. I'm using kumar driver t get /fix topic I fuse GPS data with IMU and wheel encoders using two instance of robot_localization package and ...
Leonardo Garberoglio's user avatar
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13 views

Subscribing custom topic in ros-mobile

I am using px4-sitl and mavros for UAV simulation in ros noetic and try to teleopt the drone using ros-mobile. what I noted mavros has its own message type defined like ...
Mubashir's user avatar
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1 answer
114 views

Erratic Robot Movement in RViz2 with Nav2: Back and Forth Motion and Small Jumps

I'm encountering a peculiar issue with robot movement in RViz2 using Nav2, where the robot exhibits erratic back-and-forth movements accompanied by small jumps during the simulation. This behavior is ...
Marcus Vinicius's user avatar
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1 answer
111 views

Interactive Waypoint Follower Script in Navigation2 GPS Waypoint Follower Tutorial Not Fully Working for ROS2 Galactic?

I've been working through the ROS2 Galactic Navigation2 GPS Waypoint Follower tutorial but am facing issues specifically with running the interactive waypoint follower script (Step 3 of Tutorial). My ...
Marcus Vinicius's user avatar
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61 views

Issues with Interactive Waypoint Follower in ROS2 Galactic Navigation2 GPS Waypoint Follower Tutorial

I'm working through the ROS2 Galactic Navigation2 GPS Waypoint Follower tutorial and have encountered a couple of issues that I'm struggling to resolve. QoS Incompatibility: The GPS plugin (...
Marcus Vinicius's user avatar
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1 answer
169 views

How to use Gazebo Ignition NavSat plugin

I'm trying to use the Navsat plugin but I can't get it working. I'm using ros-humble I've been following the link below, but I am unable to see any navsat topic in gazebo https://answers.gazebosim.org/...
leets0429's user avatar
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34 views

How to generate ground truth information using GPS data for SLAM system?

I'm interested in generating some datasets to evaluate system performance for SLAM. I'm confused on how I can use the GPS information to generate absolute ground truth. In particular what's confusing ...
FourierFlux's user avatar
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28 views

Cartographer ROS ignores NavSatFix

We are trying to improve mapping over large indoor areas with UWB positioning. We have a pose from the UWB system and convert it to GPS coordinates, and input it into the cartographer_node. This is a ...
Vince Réda's user avatar
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96 views

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 ...
Ishaan Mahajan's user avatar
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1 answer
54 views

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 ...
Jaesung Yang's user avatar
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148 views

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: ...
Temilolorun Aiyelari's user avatar
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0 answers
146 views

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-...
Bart B's user avatar
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1 vote
1 answer
61 views

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 ...
Ankit Kumar's user avatar
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2 answers
590 views

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 ...
Marcus Vinicius's user avatar
0 votes
0 answers
105 views

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 ...
Chee-siang Leow's user avatar
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1 answer
75 views

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 ...
Morten Nissov's user avatar
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0 answers
41 views

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 ...
sdu568's user avatar
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1 answer
265 views

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 ...
Marcus Vinicius's user avatar
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1 answer
215 views

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 ...
Timothée's user avatar
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0 answers
29 views

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 ...
mOSRobots's user avatar
1 vote
2 answers
200 views

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 ...
kees jansen's user avatar
1 vote
1 answer
512 views

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?
Abhishek Yadav's user avatar
1 vote
1 answer
188 views

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 ...
Craig MS's user avatar
1 vote
0 answers
52 views

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 ...
pion3k's user avatar
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1 vote
2 answers
545 views

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 ...
SystemSigma_'s user avatar
0 votes
0 answers
415 views

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?
busireddy harshavardhanreddy's user avatar
0 votes
1 answer
865 views

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 ...
Zillur Rahman's user avatar
0 votes
1 answer
19 views

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 ...
user avatar
0 votes
1 answer
22 views

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 ...
Chase's user avatar
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0 votes
0 answers
35 views

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 ...
FourierFlux's user avatar
1 vote
2 answers
481 views

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?
FourierFlux's user avatar
0 votes
2 answers
97 views

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 ...
jack abraham's user avatar
0 votes
1 answer
41 views

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 ...
user avatar
0 votes
1 answer
11 views

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 ...
user avatar
2 votes
0 answers
1k views

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 ...
you_know_who's user avatar
0 votes
1 answer
5 views

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 ...
user avatar
0 votes
1 answer
14 views

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 ...
user avatar
0 votes
1 answer
31 views

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 ...
Pepis's user avatar
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0 votes
1 answer
131 views

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 ...
JCB's user avatar
  • 11

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