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imu_gnss_fusion's Introduction

IMU+GNSS Fusion Localization with ESKF

Requirements

  • Ubuntu (16.04 or later)
  • ROS (kinetic or later)
    • ROS package: nmea_navsat_driver
  • GeographicLib 1.50.1 (cmake 3.18.0 tested)
  • c++14 (for using std::make_unique)

Build

mkdir -p ws_msf/src
cd ws_msf/src
git clone xxx
cd ..
catkin_make -j5 # error happened when using the default cmake 3.5.1, upgrade it

Run

test data: utbm_robocar_dataset_20180719_noimage.bag

  • /imu/data: 100 hz
  • /nmea_sentence: 15 hz
  • /fix: 5 hz
  • /nav_path: 63 hz
roslaunch imu_gnss_fusion imu_gnss_fusion.launch
rosbag play -s 25 utbm_robocar_dataset_20180719_noimage.bag

ROS graph and path on rviz:

plot the result path(fusion_gps.csv & fusion_state.csv) on google map:

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