Fusing GPS velocity, possible bug?

Course Support Robot Localization With Sensor Data
1

Hi!!

I have finished the robot localization course and, I have a question. In unit 3, when we fuse the GPS data, we fuse the GPS velocity using the navsat_transform_node output. But, navsat_transform_node always publishes the twist field equal to zero like the covariance matrix.

So, in theory, It would not be fusing the GPS velocity.

Is it a bug? Or how is it possible?

Regards,
José Carlos.

2

Hello José Carlos!

First of all, let me apologize for the late response. We totally missed this question. Also, many thanks for your feedback. You are totally right, that’s an error in the notebook. The configuration for the GPS should be the following:

[true, true, false,
false, false, false,
false, false, false,
false, false, false,
false, false, false]

I have already fixed this in the notebook. Best.