hmxf / imu_gps_fusion

IMU and GPS Data Fusion based on ROS Noetic

IMU and GPS Converged Navigation ROS Guide

Install dependicies

Execute both lines if your ROS was installed by APT Packager Manager. Otherwise execute the first line alone.

sudo apt install libgoogle-glog-dev hugin-tools enblend glibc-doc
sudo apt install ros-noetic-catkin-virtualenv ros-noetic-gps-common ros-noetic-navigation ros-noetic-move-base

Build sepecific version of python3-docutils package

Make a confirmation that your python3-docutils is newer than 0.16.x since APT will install such an old version under Ubuntu 20.04 by default, which is too old to use for many new packages. Verify by:

apt search python3-docutils

Update it by removing old packages first and then install new ones:

sudo apt remove python3-docutils docutils-common docutils-doc
mkdir ~/docutils_src && cd ~/docutils_src
wget https://mirrors.tuna.tsinghua.edu.cn/ubuntu/pool/main/p/python-docutils/python3-docutils_0.20.1%2Bdfsg-2_all.deb
wget https://mirrors.tuna.tsinghua.edu.cn/ubuntu/pool/main/p/python-docutils/docutils-common_0.20.1%2Bdfsg-2_all.deb
wget https://mirrors.tuna.tsinghua.edu.cn/ubuntu/pool/main/p/python-docutils/docutils-doc_0.20.1%2Bdfsg-2_all.deb
sudo dpkg -i docutils-common_0.20.1+dfsg-2_all.deb docutils-doc_0.20.1+dfsg-2_all.deb python3-docutils_0.20.1+dfsg-2_all.deb
sudo apt install python3-catkin-pkg python3-catkin-pkg-modules python3-catkin-tools python3-rosdep python3-rosdep-modules python3-rosdistro-modules python3-rosinstall-generator python3-rospkg python3-rospkg-modules

Fetch Code

mkdir ~/catkin_ws && cd ~/catkin_ws
git clone --recurse-submodules https://github.com/hmxf/imu_gps_fusion src

Bind USB devices

./scripts/bind_usb.sh

Build drivers and packages

catkin_make clean
catkin_make

Conncet BOTH IMU and GPS, then run

roslaunch imu_gps_localization imu_gps_test.launch