IMU/GNSS EKF (ROS2)

• Eigen3:
  apt-get install libeigen3-dev
• YAML-cpp:
  apt-get install libyaml-cpp-dev

• Docker Container (If needed)
  To build a docker image (Ubuntu 20.04 + ROS2 galactic),

  $ docker-compose build  
  

  To run the container

  $ docker-compose up   
  

  $ xhost +local:docker
  $ ./bash.sh             
  

• Build package:

  $ cd [ros2_ws]
  $ colcon build --symlink-install  
  

• To run EKF node

  $ source /opt/ros/galactic/setup.bash  
  $ source [ros2_ws]/install/setup.bash
  $ ros2 run imu_gps_navigation ekf
  

  (EKF settings => src/imu_gps_navigation/config.yaml)

• rosbag example

  // Terminal 1 (run ekf)
  $ ros2 run imu_gps_navigation ekf
  
  // Terminal 2 (record topic)
  $ ros2 topic echo /nav_topic navigation_interfaces/msg/NavState --csv --qos-history keep_all --qos-reliability reliable > navtest_output.csv
  
  // Terminal 3 (play ros2 bag file)
  $ ros2 bag play [bag_file_name]  
  

• C++ example

  $ cd src/imu_gps_navigation/example  
  $ ./test_ekf  
  $ python3 output_graph.py