GPS Localization

1

I have a husarion panther equipped with F9P GPS and a jetson computer.

How can I use gps localization on enu frame?
for what I could understand, I should launch localization.launch.py from husarion_ugv_localization with fuse_gps and enu as parameters. how can I add this to the built-in computer compose file?

2

Hello @Vitor_Alves_Pavani,

Unfortunately, GPS requires manual configuration by the user. We attempted to do this in the robot’s default driver, but this requires using not only GPS but also an external IMU, as the internal IMU has problems with the magnetometer due to the influence of the magnetic field from nearby motors.

You can draw inspiration from the solution in the husarion_ugv_localization package, but it’s necessary to take into account the capabilities and available data from your device.

Regards,

3

Hi @RafalGorecki,

I also have a Zed X camera. can I use the integrated IMU to solve this issue? Where should I place the camera for best IMU performance?

Thanks,

4

Hello @Vitor_Alves_Pavani,

It’s best to get as far away from the robot’s motors as possible, but even a few centimeters above the robot’s top cover should yield good results.

You can check if the magnetometer is reading the correct information, for example, by placing the robot on a box (so that the wheels are in the air) and reading the data from the IMU while changing the motor speed.

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