glmhit / geodetic_utils

Simple library for converting coordinates to/from several geodetic frames (lat/lon, ECEF, ENU, NED, etc.)

geodetic_utils

Description

Simple library for converting coordinates to/from several geodetic frames and managing incoming GPS information.

Libraries

geodetic_conv

• Stores a frame as a reference

• Converts between various co-ordinate systems: WGS84, ECEF, ENU, NED (see 'Notes' below)

Quick Start

install & Build

The following steps build and install geodetic_utils, which is needed to support the

catkin_simple package.

cd mysrc
git clone [e-mail]:catkin/catkin_simple.git 
git clone [e-mail]:glmhit/geodetic_utils.git
catkin build
source ./devel/setup.zsh

roslaunch geodetic_utils set_gps_refer.launch

rosbag play my_data.bag

roslaunch geodetic_utils gps_to_pose.launch

Nodes

set_gps_reference_node

Creates a reference frame based on initial GPS measurements

Arguments

• number of initial GPS measurements to wait for and average over

Subscribed Topics:

• gps (sensor_msgs/NavSatFix) - GPS sensor information

gps_to_pose_conversion_node

Publishes position information based on GPS measurements and initialised reference frame

Parameters

• sim - true if GPS readings received from /gazebo using Hectors plugin, false if received from actual device
• frame_id - string in header field of output messages ("world" is the default one if it's not specified)

Subscribed Topics:

• gps (sensor_msgs/NavSatFix) - GPS sensor information

Published Topics:

• gps_pose (geometry_msgs/PoseWithCovarianceStamped) - local ENU co-ordinates in initialised reference frame

Dependencies:

• ros
• geometry_msgs
• sensor_msgs

Notes:

Co-ordinate systems supported:

• WGS84 - Global Positioning System - [latitude, longtitude, height]
• ECEF - Earth-Centred, Earth-Fixed - [x,y,z] in Earth frame
• ENU - East, North, Up - [x,y,z] in local frame
• NED - North, East, Down - [x,y,z] in local frame

Credits:

Enric Galceran, Marija Popović - ETHZ ASL - 15 October 2015