nickcharron / waypoint_nav Goto Github PK

hi nick

Why does the value of magnetic-declination radiance change by every running of calibrate_heading.cpp file?
every time that i put the vehicle at the initial point and move it for 5 meters, the vale of magnetic-declination radiance is changing!!!

how to fix it?
thanks

Hi, I now have a set of 2cm precision RTK GPS, a radar that can work outdoors, functional IMU and ODOM data, and a robot chassis. Can I use this code for outdoor navigation? How to store and publish waypoints? I saw on YouTube that your outdoor navigation is very smooth. Is there a special software for publishing GPS navigation points? By the way, is the radar sensor necessary to use GPS for outdoor navigation?

I am using this repository on Ardumower (Ardumower.de).

EKF (Odometry + IMU)

I have used GPS only to get the latitude and longitude. Then GPS is no more in use.
so I have waypoints.txt file.
Move_base loads the waypoint.txt and also accepting the goal from gps_waypoint but giving the above mentioned error.
Robot was keep performing recovery behavior and then aborts the goal.

Can anyone suggest something ?

Regards,
MG

Using ROS - noetic
After cloning waypoint_nav, I get the following error after running catkin_make:

###################################
###################################
###################################

-- +++ processing catkin package: 'gmapping'
-- ==> add_subdirectory(waypoint_nav/slam_gmapping/gmapping)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Error at /lib/aarch64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake:117 (find_package):
Could not find a package configuration file provided by "boost_signals"
(requested version 1.71.0) with any of the following names:

boost_signalsConfig.cmake
boost_signals-config.cmake

Add the installation prefix of "boost_signals" to CMAKE_PREFIX_PATH or set
"boost_signals_DIR" to a directory containing one of the above files. If
"boost_signals" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
/lib/aarch64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake:182 (boost_find_component)
/usr/share/cmake-3.16/Modules/FindBoost.cmake:443 (find_package)
waypoint_nav/slam_gmapping/gmapping/CMakeLists.txt:6 (find_package)

hi

I want to plot gps-waypoints, but after running the related launch file, and saving a number of waypoints, i do not know how to plot it? how can i use these waypoints to plot?
I have also launched mapviz as well, the map is loaded but i do not know how to see the gps waypoints in the map

would you please guide me what to do?
thanks

In custom_description.gazebo.xacro, this namespace was causing issues (commented now):

<gazebo> <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <!--<robotNamespace>/</robotNamespace>--> </plugin> </gazebo>

i am using melodic. is there any guidance for running the project,plz

hi

I have push the start botton on the joy-stick and move the vehicle manually 5 meters forward, in order to do heading calibration, but as i checked the navsat_params.yaml, I cannot see any changes in the value of the parameters. how can i do the calibration procedure properly??

thanks in advance

After running the launch file by roslaunch outdoor_waypoint_nav outdoor_waypoint_nav_sim.launch, I am getting the following error;

RLException: while processing /home/user/catkin_ws/src/waypoint_nav/outdoor_waypoint_nav/launch/include/gazebo.launch:
while processing /home/user/catkin_ws/src/waypoint_nav/husky_simulator/husky_gazebo/launch/husky_empty_world.launch:
while processing /home/user/catkin_ws/src/waypoint_nav/husky_simulator/husky_gazebo/launch/spawn_husky.launch:
Invalid tag: Cannot load command parameter [robot_description]: no such command [['/opt/ros/noetic/share/xacro/xacro.py', '/home/user/catkin_ws/src/waypoint_nav/husky_customization/husky_custom_gazebo/urdf/custom_description.gazebo.xacro', 'laser_enabled:=true', 'ur5_enabled:=false', 'kinect_enabled:=false']]

Param xml is
The traceback for the exception was written to the log file

Could anyone please help me to solve this error. Thanks.

I was trying to launch outdoor_waypoint_nav_sim.launch file when I got an error like this:

Traceback (most recent call last): File "/opt/ros/kinetic/lib/gazebo_ros/spawn_model", line 26, in <module> from gazebo_ros import gazebo_interface File "/opt/ros/kinetic/lib/python2.7/dist-packages/gazebo_ros/gazebo_interface.py", line 9, in <module> from gazebo_msgs.msg import * ImportError: No module named msg [WARN] [1578149778.396989, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect. [spawn_husky_model-8] process has died [pid 15775, exit code 1, cmd /opt/ros/kinetic/lib/gazebo_ros/spawn_model -unpause -urdf -param robot_description -model mobile_base __name:=spawn_husky_model __log:=/home/arghya/.ros/log/5bdbdeb8-2f02-11ea-95c0-5c93a2ade090/spawn_husky_model-8.log]. log file: /home/arghya/.ros/log/5bdbdeb8-2f02-11ea-95c0-5c93a2ade090/spawn_husky_model-8*.log [ INFO] [1578149778.724595585]: Finished loading Gazebo ROS API Plugin. [ INFO] [1578149778.725804973]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1578149778.793020182]: Finished loading Gazebo ROS API Plugin. [ INFO] [1578149778.793546170]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1578149779.555884110, 1298.500000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1578149779.596780656, 1298.530000000]: Valid clock time received. Starting node. [ INFO] [1578149779.632313365, 1298.560000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1578149779.824496001, 1298.730000000]: Physics dynamic reconfigure ready. [ INFO] [1578149779.926347191, 1298.830000000]: Physics dynamic reconfigure ready. [WARN] [1578149808.658295, 1327.550000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [base_controller_spawner-5] process has finished cleanly log file: /home/arghya/.ros/log/5bdbdeb8-2f02-11ea-95c0-5c93a2ade090/base_controller_spawner-5*.log

Do anyone have any idea what's going on?
Gazebo starts perfectly but without Husky ( I meant to say Gazebo only launches the empty world ).
When I source the terminal with /opt/ros/kinetic/setup.bash and try to launch the file husky_playpen.launch, everything works perfectly fine.
Thanks in advance.

Dear nick

Would you please just mention how did you set the yaw-offset in navsat-params.yaml file?
How did you measure it or calculate it?

thanks

This command:
roslaunch husky_gazebo spawn_husky.launch

yields:

roslaunch.substitution_args.ArgException: top_plate_enabled
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/indigo/share/xacro/xacro.py '/home/nrgadmin/Desktop/catkin_ws/src/waypoint_nav/husky_customization/husky_custom_gazebo/urdf/custom_description.gazebo.xacro'     laser_enabled:=true     ur5_enabled:=false     kinect_enabled:=false     ] returned with code [1]. 

The fix is to add this to custom_description.gazebo.xacro:
<xacro:arg name="top_plate_enabled" default="true" />

When I'm doing catkin_make, I'm getting error that - Could not find a package configuration file provided by "camera_base" with any of the following names:
camera_baseConfig.cmake
camera_base-config.cmake

Add the installation prefix of "camera_base" to CMAKE_PREFIX_PATH or set "camera_base_DIR" to a directory containing one of the above files. If "camera_base" provides a separate development package or SDK, be sure that it has been installed

I have tried changing the relative coordinates of the gazebo space. I have changed the referenceLongitude and referenceLatitude values seen in husky.gazebo.xacro, but it seems the Gazebo space is still launched with the 49.9,8.9 coordinate reference. Is there somewhere else I need to edit to get the functionality I'm looking for?

My goal is to be able to change the GPS coordinates of the space the robot moves in Gazebo.

Hi,

Does someone know how to fix this warning?

Best,

Hi Mr Nickcharron ,
can you please help me with this project.
tank you a lot.
### Waypoint Navigation"
Task: Previously defined waypoints are to be read out of a text file and
sequentially with the Husky. Arrived at a waypoint,
the robot is to rotate 360◦ on the spot and then move on to other points.
further points.
Additional task: The reading of coordinates from a text file is to be replaced by a
GUI. The GUI should consist of a map including the own position and orientation. The position results from a GNSS receiver and the orientation from the inertial measurement.
the orientation from the inertial measurement unit. The reading of a point is done
with a click into the map.
Keywords: move base simple/goal, Pose, QT, Open Street Map

[ WARN] [1685456729.822960470, 1526.700000000]: Transform from base_link to map was unavailable for the time requested. Using latest instead.

[ WARN] [1685456730.724246225, 1527.600000000]: Transform from odom to base_link was unavailable for the time requested. Using latest instead.

roslaunch outdoor_waypoint_nav outdoor_waypoint_nav_sim.launch
then I'm having the above issue and the laser doesnot operate scanning on Rviz. Please help.

I am trying to use the waypoint_nav package on Kinetic.

I have successfully got it running with a forked package from:
https://github.com/jeffreylutz/waypoint_nav/

The simulation is now working however it shows the Warning:
[ WARN] [1557732150.448413800, 3770.410000000]: Transform from base_link to map was unavailable for the time requested. Using latest instead.

Further, I can use the Joystick to assign goals but cannot move the robot. Hence, I am always left with one single goal to move around with.

Are these issues related? I want to be able to move the robot around.

Hi there,

When I launched outdoor_waypoint_nav_sim using:
roslaunch outdoor_waypoint_nav outdoor_waypoint_nav_sim.launch

I got the following error:
No such file or directory: None None
while processing /home/user/catkin_ws/src/waypoint_nav/outdoor_waypoint_nav/launch/include/gazebo.launch:
while processing /home/user/catkin_ws/src/waypoint_nav/husky_simulator/husky_gazebo/launch/husky_empty_world.launch:
while processing /home/user/catkin_ws/src/waypoint_nav/husky_simulator/husky_gazebo/launch/spawn_husky.launch:
Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/share/xacro/xacro.py '' laser_enabled:=true ur5_enabled:=false kinect_enabled:=false --inorder ] returned with code [2].

Param xml is
The traceback for the exception was written to the log file

Can anyone please guide me to solve this problem?
Thanks.

Hi Nick @nickcharron ,

I cloned this repo and got following error while doing a catkin_make. Your help would be much appreciated : )

ROS version: Noetic
CMake Error at /opt/ros/noetic/share/roslaunch/cmake/roslaunch-extras.cmake:66 (catkin_run_tests_target): Unknown CMake command "catkin_run_tests_target". Call Stack (most recent call first): waypoint_nav/husky_control/CMakeLists.txt:8 (roslaunch_add_file_check)

Hi Nick,
I was able to build the package. But was not able to run the code on a real robot. I tried to copy all the settings which you did in your repo. In my case the robot accepts the goal and starts rotating on spot or goes alittle bit back and forth?
Do you have any idea what could be the issue or how can I resolve it?

hi
why in https://github.com/nickcharron/waypoint_nav/blob/master/outdoor_waypoint_nav/src/calibrate_heading.cpp , in line 46, you add heading-error to magnetic_declination_radians ?

thanks

100% on gmapping & "python" process. I guess the second is the XBox controller. Maybe you could look into compile flags to improve gmapping performance. See
https://answers.ros.org/question/151466/hector_mapping-reducing-cpu-consumption/

root1@root1-GP65-Leopard-9SD:~/workspace_test$ catkin_make
Base path: /home/root1/workspace_test
Source space: /home/root1/workspace_test/src
Build space: /home/root1/workspace_test/build
Devel space: /home/root1/workspace_test/devel
Install space: /home/root1/workspace_test/install

Running command: "make cmake_check_build_system" in "/home/root1/workspace_test/build"

Running command: "make -j12 -l12" in "/home/root1/workspace_test/build"

Scanning dependencies of target gps_waypoint
[ 0%] Built target nav_msgs_generate_messages_nodejs
[ 4%] Built target calibrate_heading
[ 4%] Built target _catkin_empty_exported_target
[ 9%] Built target safety_node
[ 13%] Built target collect_gps_waypoints
[ 16%] Linking CXX executable /home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/plot_gps_waypoints
[ 18%] Linking CXX executable /home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_continuous2
[ 20%] Linking CXX executable /home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_mapping
[ 23%] Linking CXX executable /home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_continuous1
[ 25%] Building CXX object waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint.dir/src/gps_waypoint.cpp.o
[ 30%] Built target switch_controllers
[ 37%] Built target slam_gmapping_nodelet
[ 37%] Built target tf2_msgs_generate_messages_nodejs
[ 37%] Built target tf2_msgs_generate_messages_lisp
[ 37%] Built target tf2_msgs_generate_messages_py
[ 37%] Built target tf2_msgs_generate_messages_eus
[ 37%] Built target tf2_msgs_generate_messages_cpp
[ 37%] Built target actionlib_msgs_generate_messages_py
[ 37%] Built target actionlib_msgs_generate_messages_nodejs
[ 37%] Built target actionlib_msgs_generate_messages_eus
[ 37%] Built target std_msgs_generate_messages_py
[ 37%] Built target std_msgs_generate_messages_nodejs
[ 37%] Built target std_msgs_generate_messages_eus
[ 37%] Built target actionlib_msgs_generate_messages_lisp
[ 37%] Built target rosgraph_msgs_generate_messages_py
[ 37%] Built target rosgraph_msgs_generate_messages_nodejs
[ 37%] Built target std_msgs_generate_messages_cpp
[ 37%] Built target tf_generate_messages_cpp
[ 37%] Built target sensor_msgs_generate_messages_eus
[ 37%] Built target std_msgs_generate_messages_lisp
[ 37%] Built target rosgraph_msgs_generate_messages_lisp
[ 37%] Built target sensor_msgs_generate_messages_cpp
[ 37%] Built target rosgraph_msgs_generate_messages_eus
[ 37%] Built target tf_generate_messages_eus
[ 37%] Built target actionlib_msgs_generate_messages_cpp
[ 37%] Built target rosgraph_msgs_generate_messages_cpp
[ 37%] Built target tf_generate_messages_lisp
[ 37%] Built target roscpp_generate_messages_lisp
[ 37%] Built target roscpp_generate_messages_py
[ 37%] Built target geometry_msgs_generate_messages_nodejs
[ 37%] Built target roscpp_generate_messages_eus
[ 37%] Built target roscpp_generate_messages_nodejs
[ 37%] Built target tf_generate_messages_nodejs
[ 37%] Built target geometry_msgs_generate_messages_eus
[ 37%] Built target geometry_msgs_generate_messages_cpp
[ 37%] Built target geometry_msgs_generate_messages_lisp
[ 37%] Built target geometry_msgs_generate_messages_py
[ 37%] Built target actionlib_generate_messages_cpp
[ 37%] Built target roscpp_generate_messages_cpp
[ 37%] Built target sensor_msgs_generate_messages_lisp
[ 37%] Built target sensor_msgs_generate_messages_nodejs
[ 37%] Built target tf_generate_messages_py
[ 37%] Built target actionlib_generate_messages_eus
[ 37%] Built target sensor_msgs_generate_messages_py
[ 37%] Built target actionlib_generate_messages_lisp
[ 37%] Built target actionlib_generate_messages_py
[ 37%] Built target actionlib_generate_messages_nodejs
[ 37%] Built target nav_msgs_generate_messages_eus
[ 37%] Built target nav_msgs_generate_messages_lisp
[ 37%] Built target nav_msgs_generate_messages_cpp
[ 37%] Built target nav_msgs_generate_messages_py
CMakeFiles/plot_gps_waypoints.dir/src/plot_gps_waypoints.cpp.o: In function RobotLocalization::NavsatConversions::LLtoUTM(double, double, double&, double&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, double&)': plot_gps_waypoints.cpp:(.text+0x64): undefined reference to GeographicLib::UTMUPS::Forward(double, double, int&, bool&, double&, double&, double&, double&, int, bool)'
plot_gps_waypoints.cpp:(.text+0xa1): undefined reference to GeographicLib::MGRS::Forward(int, bool, double, double, int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)' collect2: error: ld returned 1 exit status waypoint_nav/outdoor_waypoint_nav/CMakeFiles/plot_gps_waypoints.dir/build.make:122: recipe for target '/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/plot_gps_waypoints' failed make[2]: *** [/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/plot_gps_waypoints] Error 1 CMakeFiles/Makefile2:1151: recipe for target 'waypoint_nav/outdoor_waypoint_nav/CMakeFiles/plot_gps_waypoints.dir/all' failed make[1]: *** [waypoint_nav/outdoor_waypoint_nav/CMakeFiles/plot_gps_waypoints.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... [ 44%] Built target slam_gmapping_replay [ 51%] Built target slam_gmapping [ 51%] Built target _hector_mapping_nav_generate_messages_check_deps_HectorDebugInfo [ 51%] Built target _hector_mapping_nav_generate_messages_check_deps_HectorIterData CMakeFiles/gps_waypoint_mapping.dir/src/gps_waypoint_mapping.cpp.o: In function RobotLocalization::NavsatConversions::LLtoUTM(double, double, double&, double&, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&, double&)':
gps_waypoint_mapping.cpp:(.text+0x64): undefined reference to GeographicLib::UTMUPS::Forward(double, double, int&, bool&, double&, double&, double&, double&, int, bool)' gps_waypoint_mapping.cpp:(.text+0xa1): undefined reference to GeographicLib::MGRS::Forward(int, bool, double, double, int, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&)'
collect2: error: ld returned 1 exit status
waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_mapping.dir/build.make:122: recipe for target '/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_mapping' failed
make[2]: *** [/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_mapping] Error 1
CMakeFiles/Makefile2:2361: recipe for target 'waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_mapping.dir/all' failed
make[1]: *** [waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_mapping.dir/all] Error 2
CMakeFiles/gps_waypoint_continuous2.dir/src/gps_waypoint_continuous2.cpp.o: In function RobotLocalization::NavsatConversions::LLtoUTM(double, double, double&, double&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, double&)': gps_waypoint_continuous2.cpp:(.text+0x64): undefined reference to GeographicLib::UTMUPS::Forward(double, double, int&, bool&, double&, double&, double&, double&, int, bool)'
gps_waypoint_continuous2.cpp:(.text+0xa1): undefined reference to GeographicLib::MGRS::Forward(int, bool, double, double, int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)' collect2: error: ld returned 1 exit status CMakeFiles/gps_waypoint_continuous1.dir/src/gps_waypoint_continuous1.cpp.o: In function RobotLocalization::NavsatConversions::LLtoUTM(double, double, double&, double&, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&, double&)':
gps_waypoint_continuous1.cpp:(.text+0x64): undefined reference to GeographicLib::UTMUPS::Forward(double, double, int&, bool&, double&, double&, double&, double&, int, bool)' gps_waypoint_continuous1.cpp:(.text+0xa1): undefined reference to GeographicLib::MGRS::Forward(int, bool, double, double, int, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&)'
collect2: error: ld returned 1 exit status
waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_continuous2.dir/build.make:122: recipe for target '/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_continuous2' failed
make[2]: *** [/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_continuous2] Error 1
CMakeFiles/Makefile2:1225: recipe for target 'waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_continuous2.dir/all' failed
make[1]: *** [waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_continuous2.dir/all] Error 2
waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_continuous1.dir/build.make:122: recipe for target '/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_continuous1' failed
make[2]: *** [/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_continuous1] Error 1
CMakeFiles/Makefile2:1262: recipe for target 'waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_continuous1.dir/all' failed
make[1]: *** [waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_continuous1.dir/all] Error 2
[ 53%] Linking CXX executable /home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint
CMakeFiles/gps_waypoint.dir/src/gps_waypoint.cpp.o: In function RobotLocalization::NavsatConversions::LLtoUTM(double, double, double&, double&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, double&)': gps_waypoint.cpp:(.text+0x64): undefined reference to GeographicLib::UTMUPS::Forward(double, double, int&, bool&, double&, double&, double&, double&, int, bool)'
gps_waypoint.cpp:(.text+0xa1): undefined reference to `GeographicLib::MGRS::Forward(int, bool, double, double, int, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&)'
collect2: error: ld returned 1 exit status
waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint.dir/build.make:122: recipe for target '/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint' failed
make[2]: *** [/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint] Error 1
CMakeFiles/Makefile2:2558: recipe for target 'waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint.dir/all' failed
make[1]: *** [waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j12 -l12" failed

Hi I've seen your repository and I was wondering if you can share alittle details of the two controllers used in the repo?

hi, guys, do you have met this warning that in yocs_velocity_smoother input got inactive leaving us a non-zero target velocity, zeroing, which caused in stopping robot each time at sending goal to move_base. Does anyone have idea to solve this? Thank you in advance!

When I try to run catkin_make, I get the following error:
fatal error: GeographicLib/MGRS.hpp: no such file or directory

How would I get the GeographicLib on my Linux machine? Does anyone know of a way to download this

Hi, the following tutorial link is broken:
http://www.clearpathrobotics.com/assets/guides/husky/HuskyGPSWaypointNav.html

The latitude and longitude coordinates are send but the send_goals_sim.launch gets stuck at Sending Goals.There is no further action taken

hi nick

How did you specify "process_noise_covariance" and "initial_estimate_covariance" in your EKF-global? would you please give me some idea about how to tune these parameters?

thanks

hi

how to specify yaw-offset, and magnetic-declination-radiance?
would you please answer this question?

thanks

@nickcharron

Thanks for putting this up.
It is very helpful.
Found one potential glitch.
Saw a units mistake in:

https://github.com/nickcharron/waypoint_nav/blob/250e8a659e3ccf26a80e4dd1fdedf6b22ff3205d/outdoor_waypoint_nav/params/navsat_params.yaml

The declination param should be in units of radians not degrees:

magnetic_declination_radians: -12.55322

hi,
I have recorded a bag file, and after launching robot_localization pkg and SLAM, I run the launch file related to the joy_launch_control.launch, but as i push any key on the joystick, it does not start collecting waypoints. as i run rostopic echo joy, it publishes data. as i checked the rqt-graph, my /joy-teleop/joy has not any publisher. why? should i define a publisher for it?
thanks

HI
I have faced an issue about the location of the GPS waypoints in the map:
when I press the RB button in order to send the goals. I can see in rviz that the location of the goal is different from the one that I collected. is this for this reason that I have specified Odom frame as the frame for the goal to be published in?!?
May I change it into map frame?
would you please guide me?
thanks