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umigv / goat

Codebase for the GOAT
BSD 3-Clause "New" or "Revised" License
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IMU, Encoder, GPS Sensor Fusion #165

Closed Gregory-Meyer closed 6 years ago

Gregory-Meyer commented 6 years ago

Fuse the output from the IMU/Encoder state estimation node with the output from navsat_transform_node to produce a final fused sensor data stream incorporating all three localization sources.

Gregory-Meyer commented 6 years ago

this should be a turnkey solution using goat_launch:

roslaunch goat_launch imu.launch roslaunch goat_launch gps.launch port:=/dev/ttyUSBwhatever roslaunch goat_launch encoders.launch roslaunch goat_launch state.launch roslaunch goat_launch localization_imu_gps_encoders.launch

Gregory-Meyer commented 6 years ago

tested outside, imu in wrong orientation for magnetic field

Gregory-Meyer commented 6 years ago

encoder data in sensor bagfile is bad, need to record another bagfile to verify correctness

Gregory-Meyer commented 6 years ago

We will not be fusing all three sources of odometry. Instead, we will be fusing just the IMU and Encoders. This is because GPS is a discrete source of odometry and throws off state estimators that are expecting continuous data.