[ros-users] [Discourse.ros.org] [ROS Projects] Tractobots, my attempts at field robots

Loy van Beek ros.discourse at gmail.com
Wed Apr 5 08:14:27 UTC 2017

My use-case for this code is slightly different; I need to define a route for my robot based on lat/lon coordinates and put those in a Path, which is a list of PoseStampeds, which each consist of Points. 

It's good practice to stamp geometric data with a frame of reference (UTM in this case, as the robot_localization tells you when the /utm frame is wrt /map). I wanted to link to a tutorial on geometry_msgs but I was surprised I couldn't find anything in limited time. 

    from geomerty_msgs.msg import PoseStamped, Quaternion
    pose_stamped = PoseStamped()
    pose_stamped.header.frame_id = "utm"
    pose_stamped.pose.position = utm_coord.toPoint()
    pose_stamped.pose.orientation = Quaternion(0, 0, 0, 1) # Default zero orientation. You might as well use a PointStamped really if you only have a position without orientation

Not sure why you would want to publish a Point for the second antenna? 

I could not find this linked above, but http://docs.ros.org/kinetic/api/robot_localization/html/index.html might help as well.

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