kitti数据集的gps数据和imu数据转化为odom数据

1、下载数据集
链接: https://pan.baidu.com/s/1zSXyNhMNQdaFlDFziDse1Q 密码: 6j6u
其中话题/gps/fix和/imu_correct分别为sensor_msgs/NavSatFix类型的gps数据和sensor_msgs/Imu类型的imu数据
2、安装robot_localization

sudo apt install ros-melodic-robot-localization

3、使用robot_localization工具结合适当的参数将gps和imu话题转化为odom话题

gps2odom.launch

<launch>

    <rosparam file="$(find gps2odom)/yaml/gps2odom.yaml" command="load" />

    <node pkg="tf" type="static_transform_publisher" name="static_transform_publisher" 
	  args="0 0 0 0 0 0 1  /base_link /imu_link 10" />

    <!-- EKF GPS-->
    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_gps" respawn="true">
        <remap from="odometry/filtered" to="odom" />
    </node>

    <!-- Navsat -->
    <node pkg="robot_localization" type="na