Hi Tina, Could you provide a little more details about what you want to be able to do with the GPS? Most GPS units are not well suited for odometry but are good at localization. There's a draft proposal explaining common navigation frames here http://www.ros.org/reps/rep-0105.html There are also a bunch of tutorials on how to use the navigation stack at http://www.ros.org/wiki/navigation/Tutorials This one in particular you may find useful http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/Odom For setting the pose amcl uses the initialpose topic. You can set it through rviz http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack Tully On Sun, Oct 31, 2010 at 6:00 PM, Tina Chou wrote: > I am interested in publishing Odometry messages sent by the GPS sensor to > the ROS topic '/odom,' but the documentation on ROS wiki only provides a generic > example of how to add a GPS sensor input to the Robot Pose EKF Filter. Any > suggestions for more detailed information about obtaining/setting GPS > coordinates of PR2 would be much appreciated! > > Tina > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -- Tully Foote Systems Engineer Willow Garage, Inc. tfoote@willowgarage.com (650) 475-2827