GPS navigation and playback in ROS
I hope you can help me! :)
I would like to implement a GPS navigation system on my skid-steering mobile robot which has a LMS111 SICK laser, two SICK encoders and a Novatel RTK GPS system with sub-inch accuracy. In particular, my GPS system uses a base station and a rover station (which is installed on my robot, at the moment). The rover station outputs data in NMEA or Novatel format on a serial port which I can read without problems.
I would like to set a starting and an ending point for my robot and make him follow a particular path by recording GPS coordinates every moment; then, I would like to implement an algorithm able to make the robot follow autonomously and again the recorded GPS coordinates in order to playback the same path.
Can you give me suggestions on how to do this, please? Is there any ROS example or documentation which I can use, for example?
Thank you for you support!
Anyone who can help me please?