# localization

**Repository Path**: Zjw-1024/localization

## Basic Information

- **Project Name**: localization
- **Description**: No description available
- **Primary Language**: C++
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-04-30
- **Last Updated**: 2020-12-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Localization 
#### 介绍

This package takes in gnss and imu data, and output relative transformations.
It serves as a preprocess of data for other projects.

Subscribe /nax/fix && /imu/enu topics, and advertise the computed poses as geometry_msgs/poseStamped and geometry_msgs/TransformStamped.

#### 使用

1. Clone the repository and catkin_make:

   ```
   cd ~/catkin_ws/src
   git clone https://gitee.com/Zjw-1024/localization
   cd ..
   catkin_make
   source ~/catkin_ws/devel/setup.bash2.run
   ```

2. run

   ```
   rosrun localization localization_node
   ```

**注意修改订阅话题 /nax/fix && /imu/enu为所使用惯导发布的话题**

- 导远发布话题为

```
imu/data
imu/gps 
```