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How to send GPS goals for outdoor navigation?

asked 2022-03-11 15:17:34 -0600

Johart24 gravatar image

Hello,

I am using robot_localization, to fuse odometry, imu and gps data. Im also using the navsat_transform node to get the cordinates of the GPS signal maped on the world_frame. My intention is to send goals based on GPS coordinates, it would be great to do it in a visual form ( a gui for example). Do you know some packages to do it? any advice is good for me.

Thank you for your time.

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answered 2022-03-17 06:18:30 -0600

Tom Moore gravatar image

You should be able to do it by:

  1. Calling the fromLL service on navsat_transform_node
  2. Putting the returned point into message that your navigation software expects. For move_base, it would be a geometry_msgs/PoseStamped message.
  3. Sending the message to your navigation stack.

Not entirely sure what your best option is for passing GPS coordinate goals via a GUI. Your best bet is possibly mapviz.

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Hello Tom, Thanks for the information. Just a question. Why do you think that a GUI is not the best option?

Johart24 gravatar image Johart24  ( 2022-03-29 15:27:06 -0600 )edit

I think you may have misread what I wrote. I said I'm not sure what the best option is.

Tom Moore gravatar image Tom Moore  ( 2022-04-24 14:09:08 -0600 )edit
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answered 2022-12-29 18:07:18 -0600

hapy-capy gravatar image

ros-planning #2814 picks up work on a previous PR (#2111). It does not include a GUI and is not ROS1-based, but may still be a decent reference for how to get GPS (lat/long) points converted to "map"-frame points with fromLL as Tom mentioned above (if nothing else for design ideas).

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Asked: 2022-03-11 15:17:34 -0600

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Last updated: Dec 29 '22