[gazebo] Incorporate GPS into robot_localization

chicagoedt / revo_robot

Code for EDT's IGVC entry, Revo.

http://www.igvc.org/

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[gazebo] Incorporate GPS into robot_localization #48

Closed l0g1x closed 8 years ago

l0g1x commented 9 years ago

This was already done, but had to remove it temporarily until tom from robot_localization fixed a slight issue with gps integration. Need to just pull his new update from github and uncomment in the launch file.

l0g1x commented 9 years ago

[ ] Add two instances of robot_localization: 1st- wheel odometry and imu, 2nd- 1st's odom output and absolute gps position
[ ] fix covariances for all sensor inputs
- [ ] use latest hector_gazebo_plugin source code for gps plugin.
- [ ] set imu plugin gaussian error model in sdf of scipio

l0g1x commented 9 years ago

There was a empty covariance being sent in the hector_gazebo_gps plugin. I submitted a issue to them and now its fixed on the hydro-devel branch. https://github.com/tu-darmstadt-ros-pkg/hector_gazebo/issues/17