hmxf/imu_gps_fusion

IMU and GPS Data Fusion based on ROS Noetic

IMU and GPS Converged Navigation ROS Guide

Install dependicies

Execute both lines if your ROS was installed by APT Packager Manager. Otherwise execute the first line alone.

sudo apt install libgoogle-glog-dev hugin-tools enblend glibc-doc
sudo apt install ros-noetic-catkin-virtualenv ros-noetic-gps-common ros-noetic-navigation ros-noetic-move-base

Install nmea_navsat_driver for GPS

sudo apt install ros-noetic-nmea-navsat-driver ros-noetic-nmea-msgs

Fetch Code

mkdir ~/catkin_ws && cd ~/catkin_ws
git clone --recurse-submodules https://github.com/hmxf/imu_gps_fusion src

Bind USB devices and update CMakeLists.txt

./scripts/bind_usb.sh
./scripts/update_CMakeLists.txt.sh

Build drivers and packages

catkin clean
catkin build

Conncet BOTH IMU and GPS, then run

roslaunch imu_gps_localization imu_gps_test.launch