Mapviz with mavros

asked 2020-02-18 03:02:45 -0600

TomSon gravatar image

updated 2020-02-18 03:51:46 -0600

Hi, I try to visualise my gps data with mapviz on Melodic I publish with mavros 2 navsat topics (one raw and the other local)

On mapviz, it seems to see the topic but not the publication .

image description

I used this type of launch file and I'm not quite sure to understand the transform with the local origins in it :

<node pkg="mapviz" type="mapviz" name="mapviz"></node>
<node pkg="swri_transform_util" type="" name="initialize_origin" >
<param name="local_xy_frame" value="/map"/>
<param name="local_xy_origin" value="lac"/>
<rosparam param="local_xy_origins">
  [{ name: u2is,
     latitude: 48.710907,
     longitude: 2.217554,
     altitude: 233,
     heading: 0.0},
   { name: lac,
     latitude: 48.716121,
     longitude: 2.212374,
     altitude: 233,
     heading: 0.0}
<node pkg="tf" type="static_transform_publisher" name="swri_transform" args="0 0 0 0 0 0 /map /origin 100"  />

Can someone explain to me the basic usage of mapviz with navsat topics ?

Also my current tf tree :

image description


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Did you solved the problem?

__spam__ gravatar image __spam__  ( 2021-04-21 03:22:02 -0600 )edit

Hi, sorry for my late answer, I don't remember how I manage to make it work but I think it worked with a good URDF and static_transform_publisher

TomSon gravatar image TomSon  ( 2021-08-13 08:05:01 -0600 )edit