[ros-users] robot_pose_ekf /vo input units

[Wim Meeussen]

William,


We use MKS units everywhere
<http://en.wikipedia.org/wiki/MKS_system_of_units>. So the position
field in the Pose message contains xyz coordinates in meters.

Wim


On Tue, Apr 27, 2010 at 5:39 PM, William Woodall <wjwwood at gmail.com> wrote:
> We are trying to feed gps data into the ekf's /vo topic, and I have seen the
> tutorial for swapping visual odometry out for gps, but I haven'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'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.
> Thanks,
> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
> William Woodall
> Undergraduate Software Engineering
> Auburn University
> w at auburn.edu
> wjwwood at gmail.com
> 256-345-9938
> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
>
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-- 
--
Wim Meeussen
Willow Garage Inc.
<http://www.willowgarage.com)