GPS Localization

A gps localization ros node.

This node uses odometry and gps as an input and calculates the globally correct position of the robot. This is done using a feature transform to be robust to outliers.

The results are so good, you can use 2d laserscans and construct a 3d world by using the poses returned by the node.

Install

Clone this repository into your catkin workspace source folder.

cd catkin_ws/src
git clone https://github.com/Kamaro-Engineering/gps_localization.git

(Optional) Make the catkin workspace with catkin.

catkin_make

Usage

Source your ros and devel/setup.bash.

cd catkin_ws
source /opt/ros/kinetic/setup.bash
source devel/setup.bash

Check the launch files in the launch folder and fix all paths and topic names to meet your needs.

Run the node live or use a rosbag.

roslaunch gps_localization test_run.launch
# or
roslaunch gps_localization bag_run.launch