ROS API
pose_estimation
pose_estimation is a node for estimating the 6DOF of a robot based on the EKF of various sensor sources.Subscribed Topics
fix (sensor_msgs/NavSatFix)- GPS data.
- Raw IMU data.
- System command. If the string equals "reset" the map and robot pose are reset to their initial state.
- Magnetic orientation.
- Altitude from barometric pressure.
- Velocities from GPS data (North = x, East = y).
- Twist update.
- Estimated robot pose with a gaussian estimate of uncertainty.
Published Topics
pose (geometry_msgs/PoseStamped)- Estimated pose of the robot based on the sensor fusing.
- X, Y and Z velocities of the robot.
- Odometry computed based on robot's sensors.
- The estimated robot pose based on the GPS data.
- Filtered IMU data.
- TBD
- TBD
- TBD
- Global GPS coordinates.
- Euler angles.