Node wrappers for cartesian-LatLong conversion functions in libswiftnav. Serves as the glue between sensor_msgs/NavSatFix-producing sensor nodes and robot_pose_ekf.
Nodes
from_fix
Receives navigation fixes, and publishes ENU Odometry messages in a local frame cartesian frame, either specified by parameters, or simply taking the initial fix as origin.Subscribed Topics
fix (sensor_msgs/NavSatFix)- Input fixes from a satellite navigation system or other source.
Published Topics
enu (nav_msgs/Odometry)- Input fix transformed into local cartesian frame.
- Latitude, longitude, and altitude of the point used as origin in the local cartesian frame.
Parameters
~datum_latitude, ~datum_longitude, ~datum_altitude (doubles)- Location to use as origin in local frame. If unspecified, use location from initial message on fix topic.