We are trying to feed gps data into the ekf&#39;s /vo topic, and I have seen the tutorial for swapping visual odometry out for gps, but I haven&#39;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&#39;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.<div>

<br></div><div>Thanks,</div><div><br clear="all">~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~<br>William Woodall<br>Undergraduate Software Engineering<br>Auburn University<br><a href="mailto:w@auburn.edu">w@auburn.edu</a><br><a href="mailto:wjwwood@gmail.com">wjwwood@gmail.com</a><br>

256-345-9938<br>~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~<br>
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