GPS and IMU Fusion

[peakyquest]

I am trying to get gps/odometry but the navsat_transform is not publishing anything. Below is my launch file. I am not sure I am using the navsat node properly. utm transform is not being published by the node.

import os
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
from launch_ros.actions import Node

def generate_launch_description():
    package_name = 'wamv_ignition'
    world_file = os.path.join(get_package_share_directory(package_name), 'worlds', 'wamv_world.sdf')
    
    # Define the models directory path
    models_path = os.path.join(get_package_share_directory(package_name), 'models')
    
    # Set the environment variable so that Gazebo can locate the models
    set_gazebo_resource_path = SetEnvironmentVariable(
        name='IGN_GAZEBO_RESOURCE_PATH',
        value=models_path
    )

    # Path to the ign_gazebo launch file in ros_ign_gazebo package
    ign_gazebo_launch = os.path.join(
        get_package_share_directory('ros_ign_gazebo'),
        'launch',
        'ign_gazebo.launch.py'
    )

    # Bridge node
    bridge = Node(
        package='ros_gz_bridge',
        executable='parameter_bridge',
        parameters=[{
            'config_file': os.path.join(get_package_share_directory('wamv_ignition'), 'config', 'ros_ign_wamv_bridge.yaml'),
        }],
        output='screen'
    )
        
    # Include the ign_gazebo launch file and pass the world file argument
    gazebo_launch = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(ign_gazebo_launch),
        launch_arguments=[('gz_args', ' -r -v 1 ' + world_file)]
    )

    return LaunchDescription([
        set_gazebo_resource_path,
        gazebo_launch,
        bridge,
    ])

ekf_filter_node_map:
  ros__parameters:
    frequency: 30.0
    two_d_mode: true  # Recommended to use 2d mode for nav2 in mostly planar environments
    print_diagnostics: true
    debug: false
    publish_tf: true

    map_frame: map
    odom_frame: odom
    base_link_frame: wamv/base_link
    world_frame: map



    odom0: odometry/gps
    odom0_config: [true,  true,  false,
                  false, false, false,
                  false, false, false,
                  false, false, true,
                  false, false, false]
    odom0_queue_size: 10
    odom0_differential: false
    odom0_relative: false

    imu0: /wamv/sensors/imu/imu/data
    imu0_config: [false, false, false,
                  true,  true,  false,
                  false, false, false,
                  true,  true,  true,
                  true,  true,  true]
    imu0_differential: false  # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate
    imu0_relative: false
    imu0_queue_size: 10
    imu0_remove_gravitational_acceleration: true

    use_control: false

    process_noise_covariance: [1.0,   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                              0.0,    1.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                              0.0,    0.0,    1e-3,   0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                              0.0,    0.0,    0.0,    0.3,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                              0.0,    0.0,    0.0,    0.0,    0.3,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                              0.0,    0.0,    0.0,    0.0,    0.0,    0.01,   0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.5,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.5,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.1,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.3,    0.0,    0.0,    0.0,    0.0,    0.0,
                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.3,    0.0,    0.0,    0.0,    0.0,
                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.3,    0.0,    0.0,    0.0,
                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.3,    0.0,    0.0,
                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.3,    0.0,
                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.3]

navsat_transform:
  ros__parameters:
    frequency: 30.0
    delay: 3.0
    magnetic_declination_radians: 0.0
    yaw_offset: 0.0
    zero_altitude: true
    broadcast_utm_transform: false
    publish_filtered_gps: false
    use_odometry_yaw: false
    wait_for_datum: false 

This is my current tf tree

[6itf1ip]

I am working on similar project have you solved the issue.

[peakyquest]

I have also posed this in robotstacks