odometry/gps not published

[kimth1757]

Dear @TixiaoShan , Thanks for sharing your project.

I have successfully run your code and was able to get a lidar map. Currently, I'm using lidar point cloud data (Hesai Pandar64) and imu data (pwrpak7D + KVH1750). But I'm not using gps data yet. So, I'm not running module_navsat.launch yet. Now, I would like to integrate gps data by running module_navsat.launch.

`

<arg name="project" default="lio_sam"/>

<env name="ROSCONSOLE_CONFIG_FILE" value="$(find lio_sam)/launch/include/rosconsole/rosconsole_error.conf"/>

<!-- EKF GPS-->
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_gps" respawn="true">
    <remap from="odometry/filtered" to="odometry/navsat" />
</node>

<!-- Navsat -->
<node pkg="robot_localization" type="navsat_transform_node" name="navsat" respawn="true">
    <!-- <rosparam param="datum">[42.35893211, -71.09345588, 0.0, world, base_link]</rosparam> -->
    <remap from="/imu/data" to="/imu_correct" />
    <remap from="/gps/fix" to="/gps/fix" />
    <remap from="/odometry/filtered" to="/odometry/navsat" />
</node>

`

"imu_correct" is manually transformed by myself and it is alined with REB105 convention. "gps/fix" is available. If I launch the module_navsat.launch files, I cannot get /odometry/gps and /odometry/navsat. I think it seems that navsat and ekf_gps nodes are not working well.

I want you to give me some advice. Thanks, Taehan.

[learnhard22]

I have the same problem. Have you already been able to solve it?

Kind regards, Lennard

[pauldeee]

When using my own custom data, GPS did not function for me until I added it to the TF tree. For example my GPS frame name is gnss1, so I changed this line to my GPS frame.

[HomieRegina]

Hi, I have the same problem. Have you figured out how to remap the topics here? Looking forward to your reply.

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[xingyuuchen]

I have the same problem. Have you already been able to solve it?

Kind regards, Lennard

Probably you did not install the robot-localization package.