robotx_sensor

Using Vector V103 GPS and Microstrain 3DM-GX5-25 IMU to localize WAM-V

To make this work space, please make sure you have libgps and ROS GPS package

  $ sudo apt-get install libgps-dev
  $ sudo apt-get install ros-kinetic-gps

To run robot-localization package, please type

 $ sudo apt-get install ros-kinetic-robot-localization

To make the work space, please type

 $ cd ~/robotx_sensor/catkin_ws
 $ catkin_make install

Make sure you can import utm in python

 $ pip install utm

How to run

First, we have to give the permission for USB ports

 $ source ~/robotx_nctu/set_sensors_port.sh

And then turn on the sensors

 $ roslaunch localization sensors.launch

Next

 $ roslaunch localization gps_imu_localization.launch