Write a GNSS conversion node
Description
GNSS localization for Cargo MS2: Outdoor driving
Purpose
Desired Behavior
Be able to utilize GNSS for localization in addition to lidar-based NDT matching.
Definition of Done
-
A GPS node is either written or adapted to produce measurements compatible to NDT output. We probably need some form of an XY measurement in the same coordinate frame as the map used for NDT or in a frame that has a /tf
link to it -
The output from this GPS node is fed into the state estimator -
The output of the state estimator stays smooth and valid
Edited by Igor Bogoslavskyi