The fixposition_driver publishes excellent GNSS + visual-inertial output from the Vision-RTK2: but users running wheeled robots often want to additionally fuse wheel encoder odometry with that output, especially during GPS-degraded stretches or when the visual pipeline loses tracking.
I've been testing FusionCore (a ROS 2 UKF available on apt for Jazzy and Humble) with Fixposition's NavSatFix and Imu topics. It subscribes directly to both and fuses them with wheel odometry... no navsat_transform pipeline needed. During GPS-good periods it anchors to the Vision-RTK2 fix; during degraded periods it dead-reckons on wheels + IMU and re-anchors when the fix recovers.
sudo apt install ros-jazzy-fusioncore-ros
Two questions:
- Is there existing documentation on pairing fixposition_driver with downstream wheel-odom + GPS state estimators?
- Would a short note in the README pointing to options like FusionCore or robot_localization be useful for wheeled robot users?
Happy to open a PR adding that section if there's interest.
The fixposition_driver publishes excellent GNSS + visual-inertial output from the Vision-RTK2: but users running wheeled robots often want to additionally fuse wheel encoder odometry with that output, especially during GPS-degraded stretches or when the visual pipeline loses tracking.
I've been testing FusionCore (a ROS 2 UKF available on apt for Jazzy and Humble) with Fixposition's
NavSatFixandImutopics. It subscribes directly to both and fuses them with wheel odometry... no navsat_transform pipeline needed. During GPS-good periods it anchors to the Vision-RTK2 fix; during degraded periods it dead-reckons on wheels + IMU and re-anchors when the fix recovers.Two questions:
Happy to open a PR adding that section if there's interest.