HiepLM/mir_amr
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

git commit -m "first commit"

Browse Source
This commit is contained in:
HiepLM
2026-05-28 10:29:58 +07:00
commit 167c52aeb6
2048 changed files with 740251 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
navigations/robot_localization/launch/dual_ekf_navsat_example.launch Executable file
View File

@@ -0,0 +1,27 @@
<!--
This launch file provides an example of how to work with GPS data using robot_localization. It runs three nodes:
(1) An EKF instance that fuses odometry and IMU data and outputs an odom-frame state estimate
(2) A second EKF instance that fuses the same data, but also fuses the transformed GPS data from (3)
(3) An instance of navsat_transform_node, which takes in GPS data and produces pose data that has been
transformed into your robot's world frame (here, map). The node produces a map-frame state estimate.
The first EKF instance produces the odom->base_link transform. The second EKF produces the map->odom transform,
but requires the odom->base_link transform from the first instance in order to do so. See the
params/dual_ekf_navsat_example.yaml file for parameter specification.
-->
<launch>
<rosparam command="load" file="$(find robot_localization)/params/dual_ekf_navsat_example.yaml" />
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_se_odom" clear_params="true"/>
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_se_map" clear_params="true">
<remap from="odometry/filtered" to="odometry/filtered_map"/>
</node>
<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform" clear_params="true">
<remap from="odometry/filtered" to="odometry/filtered_map"/>
</node>
</launch>