https://discourse.ros.org/t/precise-outdoor-localization-in-open-field/18995?u=rje1974 People with the same problems..

ROS Discourse

Precise outdoor localization in open field

Hi, We have a mobile robot equipped with LIDAR and gps rtk. We are using Cartographer to perform mapping and localization, and while it performs really well indoor (with no gps obviously), it performs poorly outdoor in open fields, even with gps enabled, unless we take several laps of the map beforehand, which in some cases might be daunting in vast maps, or in highly dynamic environments. We are looking for a more scalable and robust solution that relies more on the accuracy given by gps for...

Original URL: https://discourse.ros.org/t/precise-outdoor-localization-in-open-field/18995?u=rje1974

This is the actual state of my project, i was working for two years on this (gbot.ag). The robot moves with remote controller and is fully ros compatible. I start the test of autonomous navigation using an ardusimple GPS-RTk board and bm055 for the heading. I start the test of the rtk over a small robot to test the performance. I'm using the move_base package for navigation.

GH010415.MP4

I tested the rplidar on field and didn't work like in indoor environments.

so for now i'm only use the rtk gps to obtain the position and the bm055 for the heading to create the odometry message with the nav sat package.

https://www.adafruit.com/product/2472

https://www.ardusimple.com/rtk-starter-kits/

https://www.linkedin.com/feed/update/urn:li:activity:6798546427279613952/

linkedin.com

Javier Eduardo Epeloa on LinkedIn: Asistiré a WEBINAR - Bridging ROS and GNSS for robotics applications

Asistiré a WEBINAR - Bridging ROS and GNSS for robotics applications. ¿Te gustaría asistir? <https://lnkd.in/d2iNiW2>...

Original URL: https://www.linkedin.com/feed/update/urn:li:activity:6798546427279613952/

Testing Ardusimple with the BNO055.

rtk+imu_ROS_test.mp4

The heading with this sensor are very stable

adafruit-bno055-absolute-orientation-sensor.pdf

Result of odometry with rtk-gps sensor (ardusimple) i measured bellow 3cm of accuracy

posicion_gbot_rtk_x_axis.png

posicion_gbot_rtk_y_axis.png

taking 60 seconds of data with the robot steady

@Javier did you do any calibration before the video with the bno055 ?