Spoofing GPS on ardupilot using gmapping
I've been working on creating a quadrotor that can autonomously navigate an obstacle course. Thus far, I have a neato xv-11 lidar and IMU data that goes into laser_scan_matcher_node. Out of laser_scan_matcher comes the base_link to odom transform. This transform feeds into slam_gmapping along with the scan data to build a map of the local environment. Here is a link to an rqt_graph of what I have running so far: www.dropbox.com/s/7scqst4brhwl7lh/dia...
My question is this: Does anyone know of a good way to take the Pose2d estimate from laser_scan_matcher and send it to the ardupilot through the GPS port? I want to convince the ardupilot that it has a good GPS lock using the positional estimate. I believe the APM looks for NMEA messages.
I am completely at a loss as to how I should go about this. Any help would be very appreciated.
Hi locustcox, I just thought this might be a useful info for you: "... the 3DR uBlox LEA-6 GPS is setup to deliver position and status data in a binary format, not in the NMEA sentence structure ..." from https://sites.google.com/site/wayneholder/self-driving-car---part/evaluating-the-3dr-ublox-lea-6-gps :)