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 | 1 | initial version |
The problem with lat/long space is that it's non-Euclidean, especially when you get far from the equator. For example if your develop you system in Texas and then take it to northern Europe this could completely break the system.
The recommended approach is to convert the raw lat-long from the GPS into a local North, East aligned coordinate system. Unless your project will be covering a distance of many kilometres then this flat approximation should work. The navsat_transform_node in the robot_localization package can be used to do this.
The advantage of this approach is that it uses a Cartesian frame measured in metres so it compatible with the rest of the ROS ecosystem.
| | 2 | No.2 Revision |
The problem with lat/long space is that it's non-Euclidean, non-Euclidean, especially when you get far from the equator. For example if your develop you system in Texas and then take it to northern Europe this could completely break the system.
The recommended approach is to convert the raw lat-long from the GPS into a local North, East aligned coordinate system. Unless your project will be covering a distance of many kilometres then this flat approximation should work. The navsat_transform_node in the robot_localization package can be used to do this.
The advantage of this approach is that it uses a Cartesian frame measured in metres so it compatible with the rest of the ROS ecosystem.
| | 3 | No.3 Revision |
The problem with lat/long space is that it's non-Euclidean, especially when you get far from the equator. For example if you develop your develop you system in Texas and then take it to northern Europe this could completely break the system.
The recommended approach is to convert the raw lat-long from the GPS into a local North, East aligned coordinate system. Unless your project will be covering a distance of many kilometres then this flat approximation should work. The navsat_transform_node in the robot_localization package can be used to do this.
The advantage of this approach is that it uses a Cartesian frame measured in metres so it compatible with the rest of the ROS ecosystem.
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