Re: Mapping and GPS Orientation Problems

Posted by jitoobias on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-and-GPS-Orientation-Problems-tp8090p8117.html

Thanks for the reply,

- EKF Odom is fusing IMU (accel, gyro) and Wheel velocities (from encoders)
- EKF map is fusing IMU(accel, gyro), GPS Odom, Wheel velocities (from encoders), and the heading comes from a dual GPS system which is fused as part of the IMU data.

The red arrows and yellow dots should be in the alleyway section of the map. Something to help is when looking at the LiDAR lines and the map you can see a concave shape on the right side of the map, that should hopefully provide a reference for the data. It also should follow the RTAB-Map line (blue) pretty closely.

I am able to provide the files but is there a way I can send it directly to you as my GPS location is used in the bag and launch files and I rather it not be on the forum.

Thanks again for the help.