solosito,
Now that I've had a taste of working with the IMU, I desperately want fusion. I need remedial help.
One of the issues I've had is that I've wanted to incorporate the yaw and roll data from the dual GPS. I'm leaning hard toward switching to a single GPS(/GNSS) receiver. That should make my configuration a bit more standard.
Today I installed nmea_navsat_driver and the TinkerForge sensor driver. I now have /fix, /vel, and /tfsensors/imu1 (among others). Unfortunately, my GPS went sour last night and I can't get RTK now. I'll be debugging it for awhile.
I'm looking at the steps that xqms suggests. Converting the /fix data to UTM seems straightforward enough but the transforms are completely beyond me. I would love to have a simple concrete step to take toward this.
Also, I'm back to studying robot_localization. Again, I'm encountering the odometry requirement.
---
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