IMU+GNSS Fusion Localization with ESKF

• 传感器融合：基于ESKF的IMU+GPS数据融合

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Requirements

• Ubuntu (16.04 or later)
• ROS (kinetic or later)
  • ROS package: nmea_navsat_driver
• GeographicLib 1.50.1 (cmake 3.18.0 tested)
• c++14 (for using std::make_unique)

Build

mkdir -p ws_msf/src
cd ws_msf/src
git clone xxx
cd ..
catkin_make -j5 # error happened when using the default cmake 3.5.1, upgrade it

Run

test data: utbm_robocar_dataset_20180719_noimage.bag

• /imu/data: 100 hz
• /nmea_sentence: 15 hz
• /fix: 5 hz
• /nav_path: 63 hz

roslaunch imu_gnss_fusion imu_gnss_fusion.launch
rosbag play -s 25 utbm_robocar_dataset_20180719_noimage.bag

ROS graph and path on rviz:

plot the result path(fusion_gps.csv & fusion_state.csv) on google map: