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