search

Octanis1 / Octanis1-ROS

ROS setup for Octanis Rover SBC.
2 stars 1 forks source link

New node: publish GPS heading data into a PoseWithCovarianceStamped topic #26

Closed bitmorse closed 8 years ago

bitmorse commented 8 years ago

it is required to post the gps heading to a PoseWithCovarianceStamped message topic for the kalman filter to get good heading estimate when the magnetometer is not available.

bitmorse commented 8 years ago

see also: http://answers.ros.org/question/211656/heading-estimation-with-gps-heading/

bitmorse commented 8 years ago

from m8p docs: "7.3.3 Low-speed Course Over Ground Filter The UBX-CFG-ODO message offers the possibility to activate a low-speed course over ground filter (also named heading of motion 2-D). This filter derives the course over ground from position at very low speed. The output of the low-speed course over ground filter is published in the UBX-NAV-PVT message (headMot field), UBX-NAV-VELNED message (heading field), NMEA-RMC message (cog field) and NMEA-VTG message (cogt field). If the low-speed course over ground filter is not activated or inactive, then the course over ground is computed as described in section Freezing the Course Over Ground."

bitmorse commented 8 years ago

if we want to be sure about the yaw/heading, we should use GPS cog!