Package Summary
Documented
ROS driver for the Applanix Position and Orientation System for Land Vehicles (POS-LV).
- Author: Jack O'Quin, Patrick Beeson, Alberto Alonso
- License: BSD
- Source: svn https://utexas-art-ros-pkg.googlecode.com/svn/trunk/stacks/art_vehicle
Package Summary
Documented
ROS driver for the Applanix Position and Orientation System for Land Vehicles (POS-LV).
- Author: Jack O'Quin, Patrick Beeson, Alberto Alonso
- License: BSD
- Source: svn https://utexas-art-ros-pkg.googlecode.com/svn/trunk/stacks/art_vehicle
Package Summary
Documented
ROS driver for the Applanix Position and Orientation System for Land Vehicles (POS-LV).
- Author: Jack O'Quin, Patrick Beeson, Alberto Alonso
- License: BSD
- Source: svn https://utexas-art-ros-pkg.googlecode.com/svn/trunk/stacks/art_vehicle
Contents
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
odometry
Subscribed Topics
shifter/state (art_msgs/Shifter)- Transmission gear currently selected.
Published Topics
odom (nav_msgs/Odometry)- Three-dimensional odometry from Applanix POS-LV.
- Inertial measurements from Applanix POS-LV.
- Latitude and longitude data from Applanix POS-LV.
Provided tf Transforms
/odom → /earth- 2D frame in UTM grid at same elevation as vehicle.
- 3D pose of vehicle in UTM grid relative to mean sea level.
