IMU and GPS Data Streams

[nico-palmar]

Create a script to track the drivetrain positioning over time. Ideally, it would be something that gives us the gps coodinates as well as the tilt angle (maybe acceleration measurments too? Whatever you can pull) as measured from the IMU - and just have an easy way of streaming in all of that data. You can look into using RVIZ for that, maybe you won't need to create anything externally.

This involves choosing a 'correct' orientation for our IMU. We should define how it should be oriented according to the ROS convention: https://www.ros.org/reps/rep-0145.html.

[wang-edward]

looking at rviz_satellite to visualize GPS

Video demo:
https://youtu.be/Qyds11yH4Ks

Next step is to render which direction the rover is facing

[wang-edward]

Got rviz_satellite working, but rviz_imu_plugin doesn't show changes.

The actual data is being published (verified with rqt) and the "orientation" values in the ::Imu message are being filled out.

I think the issue has to do with the fixed frame in rviz, which I don't know much about yet.

videos:

gps: https://youtu.be/jvJY8B1R1js
imu: https://youtu.be/6ucKo2rwGZM

[nico-palmar]

Is your IMU frame defined anywhere? In order to see something happening, ros needs to know about your fixed "IMU" frame. You can add that to a urdf file. It would end up looking something like this: https://navigation.ros.org/setup_guides/odom/setup_odom.html (scroll down to the IMU section and see the and tags. Essentially, you define where it is on the robot, then can have it as a fixed frame in rviz, where you will see everything around it moving