Sarika Ramroop (University of the West Indies),Shivan Ramdhanie (Virtana TT Ltd.)
roscon.ros.org/2018/
This discusses the workflow used for integrating an Inertial Navigation System (INS) with the ROS Navigation stack. It involves taking GPS fix messages and Imu messages and converting from latitude, longitude, altitude (lla) format to the the map’s cartesian coordinates. This is then used to create the transforms between the global and local frames, and hence, the robot’s location within them.
