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,

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William Woodall
Undergraduate Software Engineering
Auburn University
w@auburn.edu
wjwwood@gmail.com
256-345-9938
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