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.
In most cases, these messages should be published simultaneously, with identical timestamps.
utm_odometry_nodeutm_odometry_node converts latitude-longitude readings into UTM odometry
Subscribed Topicsfix (sensor_msgs/NavSatFix)
- GPS measurement and status
Published Topicsodom (nav_msgs/Odometry)
- UTM-encoded position
Parameters~rot_covariance (double, default: 99999)
- Variance (in meters) to specify for rotational measurements
- Frame to specify in header of outgoing Odometry message
- 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.