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Is it possible to localization without using actual machine and RTKLIB? #37
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Thank you for your interest. So you want to run eagleye using a rosbag that contains GNSS data such as NMEA and IMU data? The reason we use RTKLIB is that we want to use the raw data because of the inherent filters in the receiver. If you really want the eagleye to work with data from the receiver, you'll need to modify the eagleye. https://github.com/MapIV/eagleye/blob/master/eagleye_core/src/heading.cpp#L112 https://github.com/MapIV/eagleye/blob/master/eagleye_core/src/velocity_scale_factor.cpp#L84 Publish the latitude and longitude altitude with the message type rtklib_msg::RtklibNav with the topic name /rtklib_nav. After making these mods, eagleye should work if you enter the vehicle speed information(geometry_msgs::TwistStamped /can_twist) and IMU(sensor_msgs::Imu /imu/data_raw) data. |
Thanks for your reply. Following your advice, I did some modifies and tests during these days.
The picture above is one step of the eagleye_core output after I sent my data. I think the problem may cause by the data I use. So about the code modify, And I've tried to lower the [estimated_velocity_threshold] and [estimated_number_min] in the eagleye_config.yaml file, still the same problem. Could you spot what is the cause of no localization output?
This happens when I test with sample data either. After 100s of the test, I can not find any file that contains output data in eagleye_core folder and my catkin_ws root folder. And seems there is no further information about this in the Getting started documentation. |
Answer for 1.
Estimated results are not output because eagleye does not have the necessary data. Answer for 2. |
Thanks for your answer. |
I have IMU and GNSS data of a traffic scene, and I'm trying to use ROS nodes to send data directly to eagleye_core and to fetch the output.
Judging by the sample data, eagleye seems able to do the localization without RTKLIB and actual machine.
So I wondering is it possible to generate all the necessary information that eagleye needs to localization without using RTKLIB and actual machine?
If yes, could you please also tell me which topics should be published from outside to make eagleye perform properly?
I'm not quite familiar with localization, sorry for asking vague questions.
Looking forward to your feedback.
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