Hi TIna, <br><br>If you really want to navigate by the GPS alone and not use odometry you could simply have your GPS sensor publish /odom and the transform from /world to /base_link and skip all the other infrastructure. However I would caution that this will not be a good solution for anything which requires anything more than coarse navigation. The approach I would recommend would be to use the GPS sensor for localization and then publish the correction between map and odom frame as amcl does. <br>
<br>Tully<br><br><div class="gmail_quote">On Sat, Nov 6, 2010 at 4:37 PM, Tina Chou <span dir="ltr"><<a href="mailto:tina20one@gmail.com">tina20one@gmail.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
Hi Tully,<br><br>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.<br>
<br>Thanks,<br><font color="#888888"><br>Tina</font><div><div></div><div class="h5"><br><br><div class="gmail_quote">On Mon, Nov 1, 2010 at 12:03 PM, Tully Foote <span dir="ltr"><<a href="mailto:tfoote@willowgarage.com" target="_blank">tfoote@willowgarage.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
Hi Tina, <br>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 <a href="http://www.ros.org/reps/rep-0105.html" target="_blank">http://www.ros.org/reps/rep-0105.html</a> <br>
<br>There are also a bunch of tutorials on how to use the navigation stack at <a href="http://www.ros.org/wiki/navigation/Tutorials" target="_blank">http://www.ros.org/wiki/navigation/Tutorials</a><br> This one in particular you may find useful <a href="http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/Odom" target="_blank">http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/Odom</a> For setting the pose amcl uses the initialpose topic. You can set it through rviz <a href="http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack" target="_blank">http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack</a><br>
<br>Tully<br><br><div class="gmail_quote"><div>On Sun, Oct 31, 2010 at 6:00 PM, Tina Chou <span dir="ltr"><<a href="mailto:tina20one@gmail.com" target="_blank">tina20one@gmail.com</a>></span> wrote:<br></div>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;"><div>
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
<a href="http://www.ros.org/wiki/robot_pose_ekf/Tutorials/AddingGpsSensor" target="_blank">generic example</a> 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!<br><font color="#888888"><br>Tina<br>
</font><br></div>_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
<br></blockquote></div><font color="#888888"><br><br clear="all"><br>-- <br>Tully Foote<br>Systems Engineer<br>Willow Garage, Inc.<br><a href="mailto:tfoote@willowgarage.com" target="_blank">tfoote@willowgarage.com</a><br>
(650) 475-2827<br>
</font><br>_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
<br></blockquote></div><br>
</div></div><br>_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
<br></blockquote></div><br><br clear="all"><br>-- <br>Tully Foote<br>Systems Engineer<br>Willow Garage, Inc.<br><a href="mailto:tfoote@willowgarage.com">tfoote@willowgarage.com</a><br>(650) 475-2827<br>