[ros-users] Standard GPS Message

Tully Foote tfoote at willowgarage.com
Sat May 22 02:35:21 UTC 2010

With regards to a location of a potential GPS message within the ROS package
ecosystem, as the maintainer of common_msgs this seems like a strong
candidate for inclusion in the sensor_msgs package.

Jack has pointed to the review process wiki pages.  As this would be an
addition to an existing package I would suggest making a proposal API review
page at http://www.ros.org/wiki/sensor_msgs/Reviews  where the discussion of
the interested parties can be condensed as a consensus is reached.  Once a
consensus has been reached from the proposer should send out a review
notification for comments on the resultant API.

Note there is a second doc review which makes sure that the documentation is
complete before releasing, but for an API review to be effective it must be
documented well at that point, possibly with example code/use cases.

As for the library components doing a package proposal for gps_common would
be a good idea.


On Fri, May 21, 2010 at 6:32 PM, Jack O'Quin <jack.oquin at gmail.com> wrote:

> On Fri, May 21, 2010 at 5:02 PM, Bill Morris <morris at ee.ccny.cuny.edu>
> wrote:
> > I want to see if the GPS message format can be standardized, and I was
> > wondering if anyone had pointers on what steps need to be taken to get
> > the message format(s) considered for the D-Turtle release.
> WG would probably permit a community effort to define a "gps_common"
> package somewhere in ros-pkg with shared messages, UTM conversions,
> etc. That supports the federated development model by enabling common
> interchange of data and sharing of code.
> http://ros.org/wiki/QAProcess defines the steps:
>  http://www.ros.org/wiki/PackageProposalProcess
>  http://www.ros.org/wiki/APIReviewProcess
>  http://www.ros.org/wiki/DocReviewProcess
>  etc...
> > The review process for camera_info_manager seemed to work well enough so
> > perhaps something like that can be used.
> Agreed.
> I can help once I finish my current C-turtle work.
> > Right now I'm writing a driver for a GPS that does not work with gpsd,
> > and our lab is working on building some graphical GPS tools so it is
> > probably a good time to standardize the message format before we get
> > much further.
> >
> > I think the gpsd message format looks like a good start, but I would
> > also like to see some sort of waypoint format as well. This will help
> > ensure that all of the tools developed are interoperable.
> > Current Formats
> > http://www.ros.org/doc/api/gpsd_client/html/msg/GPSStatus.html
> This looks reasonable to me too, although a slight restructuring might
> be good for some uses.
> > http://www.ros.org/doc/api/applanix/html/msg/GpsInfo.html
> I created this one from the Player GPSI message format, but added some
> fields for my own convenience. I would not necessarily recommend it
> for standardization in its current form.
> For example, I added the UTM easting, northing and zone data. Since
> they can be derived from latitude and longitude, they should not be
> part of the GPS message. But, some standard conversion routines
> between the two coordinate systems would be good to have.
> I have some rather messy ones here. They could be cleaned up and used,
> if there's nothing better available.:
>  http://www.ros.org/doc/api/art_common/html/UTM_8h_source.html
> --
>  joq
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Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827
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