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Using navsat_transform_node to Transform Target GPS Coordinate?

asked 2020-10-05 15:07:37 -0500

jin031214 gravatar image

Hi,

If I had a GPS module attached my robot and a GPS coordinate for a navigation goal for the robot to reach, how would I transform that goal into the odom frame? It's an easy question for the base frame which has an odometer and an imu attached, but how would I do it for the goal GPS coordinate? Is there a built in function or should I write my own node for this purpose? Thanks.

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answered 2020-10-06 01:05:54 -0500

Humpelstilzchen gravatar image

updated 2020-10-06 01:06:45 -0500

You havn't provided your setup, e.g. what nodes you are using, so I will just say what I'm using: navsat_transform_node and python.

With python I first use geodesy to convert the latitude and longitude from degrees to UTM coordinates:

point = utm.fromLatLong(lat, lon)

navsat_transform_node provides the transform world_frame->utm, so we can now just provide the goal point in UTM coordinates:

goal = MoveBaseGoal()
goal.target_pose.header.frame_id = "utm"
goal.target_pose.pose.position.x = point.easting
goal.target_pose.pose.position.y = point.northing
(...)
move_base.send_goal(goal)

The full script I'm using is here

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My apologies,

The actual robot is equipped with Jetson TX2 that runs ROS Kinetic, but it's in repair so I'm running a husky simulation on a laptop running melodic.

husky_empty_world.launch from husky_gazebo package, gmapping.launch from husky_navigation package, move_base.launch from husky_navigation package, navsat_transform_template.launch from robot_localization package

Python is the preferred language.

jin031214 gravatar image jin031214  ( 2020-10-06 09:05:43 -0500 )edit

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Asked: 2020-10-05 15:07:37 -0500

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Last updated: Oct 06 '20