Adding Geo Tracking in ROS 2
The overall outdoor performance of the Positional Tracking module can be improved by using Georeferential information from a GNSS sensor.
The ZED ROS 2 Wrapper is compatible with each type of GNSS sensor provided with a ROS 2 driver that publishes Latitude and Longitude datum with a message of type
sensor_msgs::msg::NavSatFix on the topic defined by the parameter
gnss_fusion.gnss_fix_topic (by default
Enable GNSS Fusion #
GNSS Fusion can be started automatically when the ZED Wrapper node starts by setting the parameter
true in the file
When the Geo Tracking module is active, the ZED ROS 2 Wrapper nodes wait for the first valid GNSS Datum on the subscribed topic before starting the processing:
[INFO] [1681308875.997297634] [zed2i.zed_node]: *** Positional Tracking with GNSS fusion *** [INFO] [1681308875.997340244] [zed2i.zed_node]: * Waiting for the first valid GNSS fix...
GNSS Fusion results #
When the Geo Tracking module is enabled the GNSS datum is automatically fused with the Positional Tracking information to provide a precise camera pose in
map frame on the topics
~/pose. The messages on the topic
~/pose/filtered contain the GNSS fused odometry information to be used with external Kalman Filters.
The ZED ROS 2 Wrapper publishes also the pose of the robot in Earth coordinates on the topic
~/geo_pose/ of type