Hi Tully,

Thanks for your response. I am trying to mount a GPS unit on the PR2 Robot
(simulated in Gazebo) so I can publish the current latitude and longitude
with respect to fixed world coordinates. Our robot will navigate through a
static environment based on GPS data (not based on odometry data). I went
through the navigation stack tutorials, but they only provide information
about how to implement a GPS client for a physical GPS unit on a physical
PR2. Please let me know if you have any resources for a publisher that
publishes GPS coordinates (longitude, latitude) in simulation.

Thanks,

Tina

On Mon, Nov 1, 2010 at 12:03 PM, Tully Foote <tfoote@willowgarage.com>wrote:

> 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 <tina20one@gmail.com> 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<http://www.ros.org/wiki/robot_pose_ekf/Tutorials/AddingGpsSensor>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
>>
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>>
>>
>
>
> --
> Tully Foote
> Systems Engineer
> Willow Garage, Inc.
> tfoote@willowgarage.com
> (650) 475-2827
>
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