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
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
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