I punted and did the position computations in UTM. It was too easy to resist. It seems to work, although I haven't set flags to ensure that it's accurate. I did get to test it a little just as the weekend drew to a close: https://www.youtube.com/watch?v=ahNrSzDnw3E It was nice and boring, except for some connectivity problems which caused it to stop occasionally. I have a lot of tweaking to do on the steering. I'm using my old PID code for this and it showed - lots of drifting off course and then jerking back. --- [Visit Topic](https://discourse.ros.org/t/tractobots-my-attempts-at-field-robots/1486/23) 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: