gps_odom accepts position and velocity (from GPS), height (from altimeter), and orientation (from IMU). At the output it generates a world-frame odometry message, suitable for use in a kalman filter, etc.
Orientation is corrected by magnetic declination to geographic north. Odometry in meters is generated by setting a GPS reference point and calculating the local cartesian coordinates.
All geographical corrections are provided by GeographicLib.
Depends on kr_viz for rviz messages.
fix
: instance ofsensor_msgs\NavSatFix
.fix_velocity
: instance ofgeometry_msgs\TwistWithCovarianceStamped
. Angular velocity is ignored.imu
: instance ofsensor_msgs\Imu
. Only orientation component is used.pressure_height
: instance ofpressure_altimeter\Height
.