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zouyajing / imu_gnss_eskf

An ESKF algorithm for fusing IMU and GNSS data
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[ ESKF ] Bad GNSS data. #1

Open msh003 opened 1 year ago

msh003 commented 1 year ago

Hello Thank you so much for sharing this package. When I want to run this package on Ubuntu 18.05 and melodic ROS, I have faced this Error "[ ESKF ] Bad GNSS data.". I change the frequency of GNSS from 1Hz to 50 Hz but the error was remianed. Please see the RoS graph below. Also, I used two GNSS module, (Ublox ZED-f9p and Novatel PwrPack7) and their ROS driver can generate the gps_common/GPSFix message. Therefore, I applied the GNSS data directly to the imu_gnss_eskf_node directly. I would appreciate it if you please help me to solve this issue. Regards, Screenshot from 2022-08-20 20-44-10

zouyajing commented 1 year ago

Hi @msh003 Sorry to reply late. Please go to line 81 in src/imu_gnss_eskf_node.cpp. It checks the status of the GNSS solution. I simply set it should be equal to 2 as it works on the EU datasets. You may modify it based on the solution quality of your GNSS receiver.

if(gnss_msg->status.status != 2)