How to send GPS goals for outdoor navigation?

asked 2022-03-11 15:17:34 -0500

Johart24
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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 -0500

Tom Moore

flag of United Kingdom of Great Britain and Northern Ireland

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You should be able to do it by:

Calling the fromLL service on navsat_transform_node
Putting the returned point into message that your navigation software expects. For move_base, it would be a geometry_msgs/PoseStamped message.
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 ( 2022-03-29 15:27:06 -0500 )edit

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

Tom Moore ( 2022-04-24 14:09:08 -0500 )edit

Hi Tom, I am curious how this works when working with discontinuous GPS data. Specifically, I have the standard setup of robot localization outlined here: http://docs.ros.org/en/noetic/api/rob.... I am able to get smooth continuous localization in my odom frame, and as expected, rather discontinuous localization in my map frame due to 1Hz GPS.

If I am to try and navigate to a specific GPS waypoint, I can calculate the localization of the GPS position by converting the GPS goal position to UTM, and then performing a transform lookup to get the goal position in the odom frame. However, this transformation is not static due to the discontinuous jumps between map -> odom. Can I trust that my initial conversion is accurate? Or should I regularly update my goal at some rate?

My TF Tree is currently map -> utm, and map -> odom -> ...(more)

gstrenge ( 2023-02-12 14:04:38 -0500 )edit

Probably should be its own question, but that's just the nature of GPS, I'm afraid. You might want to make your nav goal tolerances large enough to compensate for the GPS error.

Tom Moore ( 2023-03-09 08:00:15 -0500 )edit

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answered 2022-12-29 18:07:18 -0500

hapy-capy
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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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