'odom and base_link frames are far - localization

I have an imu and gps only and i want use them for localization. I am using robot_localization ekf node. its setting is similar to this. when I view the tf on rviz, base_link is drifting exponentially. only data I am fusing are GPS and IMU, I checked IMU's data, then discovered that even when the robot is not moving, there is angular/linear acceleration So, what I did is difining a threshold for the angular/linear acceleration, when its less than this threshold, I zero the acceleration.

with that "solved" it is still drifting... the GPS data is correct.

  1. any idea why it is drifting?

  2. how to make sure that my robot is localizing correctly? I am depending on rviz to view the robot movement related to the data, is there other way? (its not even working anyways and even on rviz i see nothing)

  3. I do not understand how gps's data and odom are related. like when I view it on rviz odom will be at origin right? but how it is related to the gps coordinates?

pythonc++rosrobotics


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