[ros-users] robot_pose_ekf /vo input units

[William Woodall]

Yeah, that issue shouldn't effect us, we'll be generating the header
separately most likely.

The reason you gave for a lack of GPS standardization makes a lot of sense,
and the idea that a standard can be agreed upon is likely because most gps's
output generally the same thing, in fact I also looked at a gpsd pkg for
ROS, but sadly our gps isn't supported by gpsd currently and we figured a
custom parser for our gps would be simpler than extending gpsd, given our
time table.

And the concern about added over head of using topics and/or services in
translating the gps data into odom and tf broadcasts could be solved by
logically separating the ROS specific node with the logic that converts the
data, so users could either import the conversion library and convert the
data locally or use topic remapping to pass it through the node.

Thanks again for all your help,

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
William Woodall
Undergraduate Software Engineering
Auburn University
w at auburn.edu
wjwwood at gmail.com
256-345-9938
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


On Wed, Apr 28, 2010 at 10:16 AM, Jack O'Quin <jack.oquin at gmail.com> wrote:

> On Wed, Apr 28, 2010 at 9:35 AM, William Woodall <wjwwood at gmail.com>
> wrote:
> > Wow, thanks Jack, the ROS specific part of your gps code will probably
> work
> > for us.  I think your right though, ROS should have a standardized gps
> msg
> > that can be linked through a standard gps-to-odom node that can do these
> > calculations for you given just your gps topic.  I really appreciate your
> > help, this should really save us a lot of time implementing and
> > troubleshooting these calculations.
>
> You're welcome to use any of that code, it is all open source. Please
> report any bugs you find.
>
> There is currently one known defect. I believe it is in the device
> driver, not the ROS interface:
>
>  http://code.google.com/p/utexas-art-ros-pkg/issues/detail?id=2
>
> I believe the main reason ROS currently has no standard GPS message is
> because all the WG work is done with indoor robots. If several
> projects agreed on a common GPS message format, I expect the ROS
> developers might agree to put it in a common place like nav_msgs. That
> would allow us to better share code. Or, we could create a GPS stack
> with some more cleanly separated packages in utexas-art-ros-pkg. A
> common GPS monitoring package would be useful, for example. The GPS
> support we have right now is not very general.
>
> I like your idea for a common ROS package to translate GPS input into
> standard Odometry and tf messages. For some applications extra latency
> might be undesirable, but message bandwidth is not a problem. In our
> system, most navigation and obstacle detection is done using Odometry,
> there are only a few components (dealing with maps and such) that need
> GPS information.
> --
>  joq
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