Experimental Package

This package is a space to stage messages and common GPS-processing routines that are undergoing a standardization process. Its contents will probably be moved into ros-pkg once they've matured.


gps_common defines two common messages for GPS drivers to output: gps_common/GPSFix and gps_common/GPSStatus.

In most cases, these messages should be published simultaneously, with identical timestamps.



utm_odometry_node converts latitude-longitude readings into UTM odometry

Subscribed Topics

fix (sensor_msgs/NavSatFix)
  • GPS measurement and status

Published Topics

odom (nav_msgs/Odometry)
  • UTM-encoded position


~rot_covariance (double, default: 99999)
  • Variance (in meters) to specify for rotational measurements
~frame_id (string, default: Copy frame_id from fix message)
  • Frame to specify in header of outgoing Odometry message
~child_frame_id (string)
  • Child frame to specify in header of outgoing Odometry message


See gpsd_client for an example of a sender node that uses this package's messages.

Wiki: gps_common (last edited 2012-07-25 17:38:13 by RyanGariepy)