how to use gps to evaluation

[limeng1523]

Hi,
I want to use the gps provided by your data sets as the ground truth for evaluation, but its coordinate system and frequency are different from the system output, could you tell me how do you solve this? Thank you very much!

[TixiaoShan]

When you launch the system, there is one odometry published at odometry/gps, which is the transformed GPS coordinates in Cartesian space. You can use that for evaluation.

[limeng1523]

@TixiaoShan Hi,
Thanks for your answer. I have found the topic /odometry/gps, but it can't coincide with the system output. It seems that there is a rotation between /odometry/gps and system output. Besides, during running the system, the gps position changed suddenly. Could you tell me where is the problem? Thank you very much!

[TixiaoShan]

You can set the gpsTopic correctly to subscribe to it. The GPS data in the dataset is very bad. It jumps a few hundred meters will corrupt the optimization.

[TixiaoShan]

#8

[stale]

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