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Transform NavSatFix to Tf [closed]

asked 2020-05-27 12:15:12 -0500

Filippo Grazioli gravatar image

This is probably a dumb question.

I am working with the Kitti dataset. I am trying to express the content of the topic /kitti/oxts/gps/fix (NavSatFix - lat, long, alt) in the reference world reference system of Tf (x, y, z).

Do you know a way to do it? Thanks

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Closed for the following reason the question is answered, right answer was accepted by Filippo Grazioli
close date 2020-06-10 04:00:45.762593



Hi @Filippo Grazioli,

Have you considered the robot_localization package and its navsat_transform_node?

Weasfas gravatar image Weasfas  ( 2020-06-09 17:24:56 -0500 )edit

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answered 2020-06-10 01:04:47 -0500

Filippo Grazioli gravatar image

updated 2020-06-10 01:05:16 -0500

My personal solution was the following:

a) transform the initial GPS position (lat, long, alt) to an ECEF point - let's name this O;

b) center a ENU reference system in O;

c) express all other GPS positions (lat, long, alt) w.r.t. the ENU reference system centred in O.

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Asked: 2020-05-27 12:15:12 -0500

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Last updated: Jun 10 '20