gps-tools

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gps_odom

gps_odom accepts position and velocity (from GPS), height (from altimeter), and orientation (from IMU). At the output it generates a world-frame odometry message, suitable for use in a kalman filter, etc.

Orientation is corrected by magnetic declination to geographic north. Odometry in meters is generated by setting a GPS reference point and calculating the local cartesian coordinates.

All geographical corrections are provided by GeographicLib.

Depends on kr_viz for rviz messages.

Input topics:

• fix: instance of sensor_msgs\NavSatFix.
• fix_velocity: instance of geometry_msgs\TwistWithCovarianceStamped. Angular velocity is ignored.
• imu: instance of sensor_msgs\Imu. Only orientation component is used.
• pressure_height: instance of pressure_altimeter\Height.