My use-case for this code is slightly different; I need to define a route for my robot based on lat/lon coordinates and put those in a Path, which is a list of PoseStampeds, which each consist of Points. It's good practice to stamp geometric data with a frame of reference (UTM in this case, as the robot_localization tells you when the /utm frame is wrt /map). I wanted to link to a tutorial on geometry_msgs but I was surprised I couldn't find anything in limited time. from geomerty_msgs.msg import PoseStamped, Quaternion pose_stamped = PoseStamped() pose_stamped.header.frame_id = "utm" pose_stamped.pose.position = utm_coord.toPoint() pose_stamped.pose.orientation = Quaternion(0, 0, 0, 1) # Default zero orientation. You might as well use a PointStamped really if you only have a position without orientation Not sure why you would want to publish a Point for the second antenna? I could not find this linked above, but http://docs.ros.org/kinetic/api/robot_localization/html/index.html might help as well. --- [Visit Topic](https://discourse.ros.org/t/tractobots-my-attempts-at-field-robots/1486/28) 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: