<> <> Node wrappers for cartesian-!LatLong conversion functions in [[https://github.com/swift-nav/libswiftnav|libswiftnav]]. Serves as the glue between <>-producing sensor nodes and [[robot_pose_ekf]]. == Nodes == {{{ #!clearsilver CS/NodeAPI node.0 { name = from_fix desc = 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. sub{ 0.name = fix 0.type = sensor_msgs/NavSatFix 0.desc = Input fixes from a satellite navigation system or other source. } pub{ 0.name = enu 0.type = nav_msgs/Odometry 0.desc = Input fix transformed into local cartesian frame. 1.name = enu_datum 1.type = sensor_msgs/NavSatFix 1.desc = Latitude, longitude, and altitude of the point used as origin in the local cartesian frame. } param { 0.name = ~datum_latitude, ~datum_longitude, ~datum_altitude 0.type = doubles 0.desc = Location to use as origin in local frame. If unspecified, use location from initial message on `fix` topic. } } }}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage