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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.

Messages

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.

Nodes

utm_odometry_node

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

Parameters

~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

Tutorial

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