xiang4587 / loosely-coupled-ros-navigation

This is a project to fuse GPS/IMU/Wheel odometry for the vehicle localization.

Loosely-Coupled-ROS-Navigation

This repository contains the code to fuse GPS/IMU/Wheel odometry for the vehicle localization in ROS. It's available for users to their own sensors such as GPS, IMU and wheel odometry depending on vehicles.

reference

P. D. Froves, "Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, [Book review]," IEEE Arospace and Electronic Systems Magazine, vol. 30, no. 2, pp. 26-27, 2015

Installation & Prerequies

1. Install ROS (kinetic), rospy, and ros drivers for sensors depending on yours. We perform this package on Autoware platform.\

$ sudo apt-get update -y

$ sudo apt-get install -y python-rospy

2. Install the following packages, numpy, scipy, e.g. with the pip command

$ pip install numpy scipy 

3. Clone this repo in catkin_ws

$ cd catkin_ws/src

$ git clone [email protected]:Xiang4587/Loosely-Coupled-ROS-Navigation.git

Usage

Run this package

$ roscore

Online sensing GPS/IMU/wheel odometry data or play rosbag file

$ cd catkin_ws/src/Loosly-Coupled-ROS-Navigation/src
$ chmod +x LC_main.py

$ rosrun Loosly-Coupled-ROS-Navigation LC_main.py

Description

The state of the extended Kalman filter for GPS/IMU/Odometry fusion includes position, velocity, attitude: [P_n, P_e, P_d, V_n, V_e, V_d, roll, pitch, yaw, bias_g1, bias_g2, bias_g3, bias_w1, bias_w2, bias_w3]

loosely-coupled-ros-navigation's Issues

can you tell me which device produced this /xsens/gps/pose?

I don't konw if the topic /xsens/gps/pose is produce by GPS? but GPS does't have quaternion. I think it can't be IMU,so, help me! thx!