Can GPS message format: gps_common/GPSFix or sensor_msgs/NavSatFix be used in this code?

HKUST-Aerial-Robotics / GVINS

Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.

GNU General Public License v3.0

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Can GPS message format: gps_common/GPSFix or sensor_msgs/NavSatFix be used in this code? #9

Closed llu0120 closed 3 years ago

llu0120 commented 3 years ago

Hi, Really appreciate the work from you guys. I'm currently finding the orientation of my map between the gps pose and is interested in the intiailization step in this project proposed. I'm wondering if I have gps message like gps_common/GPSFix and sensor_msgs/NavSatFix with longitude, latitude and altitude available already, how can we use this in the initialization step? Can you guys give me some idea or suggestions? Thank you in advance!

shaozu commented 3 years ago

Hi, @llu0120. If you already have a reliable GPS solution and local poses, you can use the global_fusion module of the VINS-Fusion package to find the alignment.