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Questions tagged [navsat-transform]

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Odometry with robot_localization using GPS and Imu, not encoders

I'm working with a mobile robot with GPS and IMU and I need to get the odometry without encoders so I'm trying to tune the robot_localization pkg for Ros2 Humble using dual ekf and navsat_transform. I'...
new_tech_liv's user avatar
1 vote
1 answer
71 views

Navsat node not publishing to odometry in ROS

A friend and I have been trying to get a GPS system integrated into an automated robot, and the GPS fix is publishing, and sending data to the navsat_transform node. We're also sending it odometry ...
Ian Woooood's user avatar
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0 answers
59 views

Nav_sat_transfor_node dual-EKF causes serious jumping in map frame

I have a differential robot with poor grip as you can see in the picture below, with the following devices: -Motor controller - 100Hz, encoder and publishing in my topic /diff_cont/odom (frame id: ...
Juan Miguel Sequeira Da Silva's user avatar
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1 answer
16 views

Where is the topic "imu/data" defined?

I am running the Clearpath Husky ROS simulation (https://github.com/husky/husky) and need to change the header frame ID of the topic "imu/data" from "base_link" to add a transform ...
user avatar
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1 answer
48 views

navsat_transform_node odometry estimate looks to be rotated differently from local map frame, resulting in incorrect estimation

Hello all, I am trying to get robot_localization and navsat_transform implemented on a Husky UGV to do outdoor navigation and control and I am running into problems with the odometry output from ...
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1 answer
26 views

Using robot_localization navsat_transform_node to fuse IMU and GPS measurements from a drone

Hi, I'm looking throuh the robot_localization package and I'm a bit confused on how to use the navsat_transform node to fuse measurements coming from a drone. I have three topics: ...
user avatar
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1 answer
3 views

navSat with hectorMapping for outdoor navigation

Hello, I'm trying to configure a robot with GPS for outdoor navigation. For that I'm using robot_localization package with the navSat transform and I want to fuse hectorMapping for pathPlanning and ...
user avatar
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1 answer
11 views

-nan, nan, nan in output of NAVSAT TRANSFORM

I am having an issue with the NAVSAT TRANSFORM node. The output odometry/gps has nan for position and covariance as shown below. ...
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1 answer
18 views

robot_localization navsat_transform yaw offset and phidgets imu

Hi, I am currently using the robot_localization package for the state estimation of my robot. I also have a RTK GPS Device which I would like to include in robot_localization. The problem is that I ...
user avatar
0 votes
1 answer
7 views

robot_localization and gmapping - how the transform should be done?

We are trying to use robot_localization and gmapping. What we have done so far: we use gmapping to publish the transform between ...
user avatar
0 votes
1 answer
18 views

Can navsat_transform be used to transform a pose from latlong to odom?

I'm using a gps to localize a mobile robot and ekf_localization_node together with a navsat_transform_node to transform the ...
user avatar
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1 answer
6 views

navsat_transform_node: Tf has two or more unconnected trees

Hi, I'm new in ROS I use robot_localisation Package for Fusing imu, gps, odometry but i have problem with navsat_transform_node when i launch the launch file i receive this warning: [ WARN] [...
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1 answer
8 views

Navsat_transform diverges from GPS points

Hi, I'm trying to use the navsat_transform_node as per the example provided in the robot_localization package. However, the output of the node always diverges (quite significantly) from the original ...
user avatar
0 votes
1 answer
12 views

Using robot_localization, how can I calculate the GPS coordinates of any point on my robot?

The Problem (TL;DR) I want to calculate the GPS coordinates of a random hardpoint on my robot, both directly from the GPS and via sensor fusion (EKFs). The Problem (in full) This is a conceptual ...
user avatar
0 votes
1 answer
18 views

Why does the accuracy of navsat_transform change with heading?

The Problem (in short) I am using the excellent robot_localization package to localize my robot in an outdoor environment. I'm trying to make the localization as accurate as possible, and it's ...
user avatar
0 votes
1 answer
10 views

how to fuse two GPS into navsat_transform?

Hi, dear: I wonder to know how to fuse two GPS into navsat_transform if I have two imu(imu0 & imu1), two odometry sources(...
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2 answers
31 views

How do you use the navsat_transform set_datum service?

I'm trying to use navsat_transform and I'm having difficulty with the global frame origin not matching the latitude and longitude I'm setting it to in the launch ...
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1 answer
96 views

Localisation inaccurate because navsat_transform is incorrectly calculating odometry

I'm trying to localise my robot in an outdoor environment by integrating GPS data in ROS. I'm running two ekf_localisation instances and one ...
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1 answer
18 views

navsat_transform_node gives zero output and warning in robot_localisation_node gives a warning - could not obtain transform

Hello I am new to ROS and using Robot_localisation package. As given in the tutorial I ran two instances of ekf_localisation. My navsat transform node gives zero output and I keep getting a warning : ...
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1 answer
10 views

tf problems when combine robot_localization gps & navigation amcl stack

hi, Dear all, I met tf problems when combine robot_localization + navsat + navigation amcl ...
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1 answer
15 views

How to use robot_localization /odometry/filtered

So I have two robot_localization nodes setup. The first fuses the vehicle odometry and the imu data. The second will add in GPS and hector_slam pose estimates. My question is, should I fuse the output ...
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1 answer
28 views

robot_localization: navsat transform node does not publish

According to tutorial about GPS Integration and use of navsat transform node, i put into node the imu with absolute heading values, odometry that is the output of second instance of EKF and NavSatFix ...
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1 answer
5 views

cannnot get orientation and twist when I use navsat_transform_node

I am using robot_localization. I cannot get orientation and twist when I use navsat_transform_node /odometry/gps: ...
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1 answer
3 views

RobotLocalization: navsatnode give wrong results with "nan covariance"

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1 answer
2 views

robot_localization: erroneous filtered GPS output

Hello, I am quite new to the robot_localization package and am facing a number of difficulties in using it. I am currently trying to fuse data taken from an Android device's GPS and IMU using this ...
user avatar
0 votes
1 answer
8 views

robot_localization failed to transform warning

I am incorporating gps into robot_localization by running two robot_localization nodes, the first one for continuous data and a second one that takes odom outputs of the first node as well as gps data....
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0 votes
2 answers
15 views

navsat_transform missing child_frame_id?

I am integrating GPS with odometry and IMU data. I am using two instances of robot_localization, one for the continuous data. That one feeds into a second one that gets gps data input. I use ...
user avatar
0 votes
1 answer
3 views

new update robot_localization

I have so time work with this package, last week i update this in other work_space and started to do test with old bags. I was surprised because a observation, now the front of base_link its Y???? ...
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0 votes
1 answer
8 views

ekf_localization_node navsat_transform_node

Hi Tom! Remember mi system: -I have a IMU microstrain 3DMGX2 -GPS -I want integrate with ekf My configuration: ekf_localization_node ...
user avatar
0 votes
2 answers
11 views

map frame from robot_localization

I am trying to create the standard tf frames specified in REP 105 (map, odom, and base_link) using the robot_localization package. I only have GPS and IMU sensors available. So far I have been able ...
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