William, We use MKS units everywhere . So the position field in the Pose message contains xyz coordinates in meters. Wim On Tue, Apr 27, 2010 at 5:39 PM, William Woodall wrote: > We are trying to feed gps data into the ekf's /vo topic, and I have seen the > tutorial for swapping visual odometry out for gps, but I haven't been able > to find the units for x, y, z pose in the that Odometry msg.  I have poked > around in the source a bit, and I haven't been able to find any clues to the > units, though I imagine it is displacement in meters or something similar. >  Our gps outputs lat, long, altitude which we need to translate, obviously, > but I was just wondering if anyone could tell me the specific units the ekf > is expecting. > Thanks, > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ > William Woodall > Undergraduate Software Engineering > Auburn University > w@auburn.edu > wjwwood@gmail.com > 256-345-9938 > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -- -- Wim Meeussen Willow Garage Inc.