I tested this with a bag I had on my filesystem with sensor_msgs/NavSatFix messages in it. Unfortunately, I don't have TwistStamped messages in that bag. The filter worked fine even with just the GPS inputs, but the fix messages are from one of our high-end GNSS/INS units at work and come in at 100 Hz.
However, I think it should work fine when you publish a geometry_msgs/TwistStamped topic derived from the wheel encoders.
I added the TF transforms for both map -> odom and from odom -> base_link. The EKF filters the position, speed, and yaw rate inputs, and also implicitly estimates the heading.
I tested this with a bag I had on my filesystem with
sensor_msgs/NavSatFixmessages in it. Unfortunately, I don't haveTwistStampedmessages in that bag. The filter worked fine even with just the GPS inputs, but the fix messages are from one of our high-end GNSS/INS units at work and come in at 100 Hz.However, I think it should work fine when you publish a
geometry_msgs/TwistStampedtopic derived from the wheel encoders.I added the TF transforms for both
map->odomand fromodom->base_link. The EKF filters the position, speed, and yaw rate inputs, and also implicitly estimates the heading.