On Sat, Nov 6, 2010 at 4:37 PM, Tina Chou <tina20one@gmail.com> wrote:

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 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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