rosbag topics about GNSS/INS

weisongwen / UrbanLoco

UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes

https://advdataset2019.wixsite.com/urbanloco

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rosbag topics about GNSS/INS #11

Closed Ckerrr closed 3 years ago

Ckerrr commented 3 years ago

Thanks for the great work and sharing with the community.

I have some questions listed below:

What are /navsat/fix and /navsat/odom in the rosbags? Are they from NovAtel or ublox?
What is the difference /imu_rt and /imu_raw?

weisongwen commented 3 years ago

Thanks for your interest in our dataset. For the CA dataset, the /navsat/fix and /navsat/odom are the middle information which are combined in topic /novatel_data/inspvax for ground truth evaluation. The /imu_rt is the imu data from SPAN-CPT but the accuracy is not guaranteed.

As mentioned on the readme page, the /imu_raw is the imu data from Xsens IMU.

Ckerrr commented 3 years ago

Thank you @weisongwen. Appreciate it!