hdl_localization_gps

add heading and fix messages on the base of hdl_localization

Good performance with GNSS RTK.

Load

• /utm_file
  • lat lon high heading when start mapping.
    • I used Lio-sam to mapping, and turned useImuHeadingInitialization to false.In addition, I wrote a program to save lat lon high heading when start mapping.
    • N is zero, and chockwise is +.

Sub

My addition:

• /fix (sensor_msgs::NavSatFixConstPtr)
  • lat lon high
  • I didn't use high, it didn't stable.
• /heading (geometry_msgs::QuaternionStamped)
  • heading:N is zero, chockwise is +.

Other

geographic-dev need to be installed

sudo apt-get install libgeographic-dev

Related packages

• interactive_slam

• hdl_graph_slam

• hdl_localization

• hdl_global_localization

• hdl_people_tracking