## repository: http://utexas-art-ros-pkg.googlecode.com/svn
<<PackageHeader(applanix)>>
<<TOC(4)>>

== Deprecated ==

This package is fairly specific to the POS-LV device used in the ART autonomous vehicle. For a long time, it was the only Applanix driver available in ROS.

Now, there is a more-complete implementation called [[applanix_driver]], developed by Clearpath Robotics with help from Applanix engineers. We recommend using that driver instead of this one for new applications.

== Applanix Odometry driver ==

=== Usage ===
{{{
  rosrun applanix odometry [options]

Options:
    -f <filename>  PCAP packet dump file name (default: use real device)
    -h, -?         print help text
    -q <integer>   set ROS topic queue depth (default: 1)
    -t <filename>  run unit test with fake data from <filename>
}}}

=== Examples ===

Read the Applanix POS-LV, publishing `gps` and `odom` messages.
{{{
$ rosrun applanix odometry
}}}

Read previously captured Applanix packets from `dump.pcap` file.
{{{
$ rosrun applanix odometry -f dump.pcap
}}}


{{{
#!clearsilver CS/NodeAPI
node.0 {
 name = odometry
 pub {
  0.name = odom
  0.type = nav_msgs/Odometry
  0.desc = Three-dimensional odometry from Applanix POS-LV.
  1.name = imu
  1.type = sensor_msgs/Imu
  1.desc = Inertial measurements from Applanix POS-LV.
  2.name = gps
  2.type = art_msgs/GpsInfo
  2.desc = Latitude and longitude data from Applanix POS-LV.
 }
}
prov_tf {
  0.from = /odom
  0.to   = /earth
  0.desc = 2D frame in UTM grid at same elevation as vehicle.
  1.from = /earth
  1.to   = /vehicle
  1.desc = 3D pose of vehicle in UTM grid relative to mean sea level.
}
sub {
  0.name = shifter/state
  0.type = art_msgs/Shifter
  0.desc = Transmission gear currently selected.
}
}}}


## AUTOGENERATED DON'T DELETE
## CategoryPackage