Thanks for the help, xqms! I'll try to respond to your points in order... One of the best parts about my new kill switch system is that I can program it. Yes, I originally made it so that there was a heartbeat and if the switch was hit, the heartbeat stopped and the tractor was killed. I switched away from that to only transmit a kill signal for a couple reasons. The main one is that I wanted to save the battery. I don't know how long it'll last if I'm transmitting all of the time but I sure don't want to run out of battery at the end of a day and be tempted to bypass the kill switch. I also plan to have several kill switches operating several robots which could be miles apart. I want kill switches to be able to move in and out of range without killing tractors. I do consider having one heartbeat switch that stays in the field with the tractor (and is connected to a power source like the command center) and then have other switches that send signals only when activated. I like keeping it simple for now, though. I do not use a localization filter. I work directly from the GNSS data, which is plenty accurate for me. I would love to fuse an IMU, though, so I can get higher refresh rates and lower latency. Yes, "direct tf transforms" sounds like my current need. Yes, I get course and pitch from the receivers. Here's the data I get about the base line to the second antenna: 1. Latitude-projection of base-line, m 2. Longitude-projection of base-line, m 3. Height-projection of base-line, m 4. Base-line length (Rover-to-Base distance), m 5. Base-line course (angle between base-line vector and North direction), degrees 6. Base-line pitch (angle between base-line vector and horizontal), degrees Right now I'm using nvector for all of my calculations. I think about switching to UTM but I'm a little concerned about conversion errors, especially in fields which are over a mile in one dimension. I suppose that if I calculate my lines in nvector and then convert them to UTM, I should be OK. Alright, modeling the robot in URDF seems to be the place to start. I've tried it a few times and not gotten far. I'm sure it's something I can do. I will give it a shot. The next steps overwhelm me right now. Good to know I'm on the right path, though. Thank you! --- [Visit Topic](https://discourse.ros.org/t/tractobots-my-attempts-at-field-robots/1486/13) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: