search

NMBURobotics / vox_nav

A navigation system for outdoor robotics in rough uneven terrains.
https://nmburobotics.github.io/vox_nav/
Apache License 2.0
213 stars 41 forks source link

UTM to Map sometimes is off by huge margin, #1

Closed jediofgever closed 3 years ago

jediofgever commented 3 years ago

This seems to be caused by robot passing by the origin or world. Which probably robot_localization interpret as , robot has changed the poles, causing the yaw_offset in navsat_transfrom_node tobe incorrect.

Screenshot from 2020-12-02 13-15-41

One possible solution; initialize the world and robot somewhere far from this origin e.g (100, 100).

jediofgever commented 3 years ago

Adressed by ; 57bbb7a79ff7a003da9ffdd185bfd8890ed0a701 The hector GPS plugin is more consistent with real data. After the above commit things seems to work as expected.