Gps Navigation Configuration mixup

Course Support Robot Localization With Sensor Data
1

Hello,

In the Fuze sensor data to Improve navigation class unit 3. There is some confusion in the odometry configuration for the GPS. In one section it says this:

odom1: /odometry/gps
odom1_config: [true, true, false,
false, false, false,
false, false, false,
false, false, false,
false, false, false]
odom1_differential: false

and right below it says [option 2]:
odom1: /odometry/gps
odom1_config: [false, false, false,
false, false, false,
true, true, true,
false, false, true,
false, false, false]
odom1_differential: false

All tutorials and previous video lectures say to follow option 2 but I am confused here because are we not using the GPS coordinates for the xy pose of the system?

My code for this section can be found: (GitHub - Oreoluwa-Se/Ros-Autonomous-Vehicle).
In the attached link the configuration followed is the first and when you run it… it drifts. Please help

2

Hello @olumidegodson12 ,

Yes, you are right, this is an error in the notebook. The correct configuration is the 1st option, adding to the filter the XY data.

3

Hello. When I make the configuration as the first option and launch the file the readings drift as shown in this video [Ros-Autonomous-Vehicle/video at main · Oreoluwa-Se/Ros-Autonomous-Vehicle · GitHub]. The code used can be found here [Ros-Autonomous-Vehicle/src at main · Oreoluwa-Se/Ros-Autonomous-Vehicle · GitHub]. It can be launched by using “roslaunch sumit_gps_nav nav_with_gps.launch” to reproduce the error.

Thank you!