GPS Lever Arm Offset

[karanchawla]

Hello,

Thank you for putting these up. I'd like to know if your GPS position is already transformed to the COM of the robot? If not, how would we go about accounting for the offset in the position of the GPS in the data?

Thanks!

[balzer82]

We simply start at 0, 0 meter and adding up meters from there. Since GPS is in degree and the Kalman Filter is running in SI units, we have to transform these values like here for example.