gps_transformer

The package is used to transform GPS information from WGS84 coordinates to local cartesian coordinates.

Requirements

1. GeographicLib

• Installation of GeographicLib: https://hackmd.io/TM7Zv75zTr-RhO0DuQQxKQ

Nodes

1. Node gps_transformer_node

1. Node gps_transformer_node

(a) Subscribed Topics

• rtk_fix (sensor_msgs/NavSatFix)
  GPS position fix reported by the device.

(b) Published Topics

• gps_marker (visualization_msgs/Marker)
  GPS position in local cartesian coordinates. The origin is set to be the first subscribed GPS position.

(c) Getting Started

roscore
rosrun gps_transformer gps_transformer_node

• Result:
  Red line: GPS trajectory