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
 <a href="http://www.ros.org/wiki/robot_pose_ekf/Tutorials/AddingGpsSensor">generic example</a> 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!<br><br>Tina<br>