I'm interested in the common gps message, too. The messages in here look excellent to me: http://www.ros.org/doc/api/gps_common/html/index-msg.html And I'd find useful a standard GPSWaypoint also. As a new user of ROS, I'm finding it a bit overwhelming trying to know how to use the gps_common message that's been proposed above. I've cloned umd-ros-pkg, and I've found the gps_common package in the gps_umd stack... but there's also the two relevant messages separately appearing in the gpsd stack, independent of the gps_common packaging. Should I just be copying the two files from msg to my own project/msg directory, or should I be trying to place the gps_common package in some centrally-located area, and creating a dependency on it? (How?) Sorry to be such a noob about this, but I find the documentation regarding project/directory structure a little confusing. Mike Purvis On 25 May 2010 11:27, Bill Morris wrote: > On Tue, 2010-05-25 at 17:10 +0200, Markus Achtelik wrote: > > I think, unfortunately except for the magnetic compass, attitude, > > acceleration and angular rates are already covered by the imu- message > > in sensor_msgs. As imu readings usually arrive/are needed at a higher > > rate than gps, one would send duplicates of the GPS measurements and it > > would be harder to determine a "real" new GPS measurement. > > I think the GPS message should only have data derived from the GPS > sensor to prevent confusion. > > This reminds me of a debate we were having in the lab. Should there be a > Pose1D message for the altitude information returned by an altimeter or > should it send a PoseWithCovariance message and use the covariance to > mask out the unused portions. > > Also is there a reason the Odometry message does not contain > acceleration information? > > Does the navigation stack seem like a reasonable place to put the code > for calculations? > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >