xiaoxueshengyao / simple_gnss_localizer

A simple GNSS positioning and display demo(三维位姿数据显示在Google地图上)

simple_gnss_localizer

A simple GNSS positioning and display demo

• Use longitude-latitude-altitude(gnss) only, and computing direction information;
• Display positions on the Google Maps;

video

bilibili tutorial video

Dependency

-[ROS]

-rviz_satellite:copy to the catkin_ws,and catkin_make -DCATKIN_WITHELIST_PACKAGES="rviz_satellite"

Install

Use the following commands to download and compile the package.

cd ~/catkin_ws/src
git clone https://github.com/chengwei0427/simple_gnss_localizer.git
cd ..
catkin_make -DCATKIN_WITHELIST_PACKAGES="gnss_localizer"

Other notes

1. adjust the topic change the topic /fix to your gnss topic,or use remap

2. check the NavSatFix status in GNSSCallback

3. after run your bag(contain gps topic), you could get first gnss:30.20230164,120.26021482,14.14500000,change the the param ori_lat,ori_lon,ori_alt inrun.launch and ref_point=[30.20230164,120.26021482,14.14500000] in scripts/path_client_copy.py

4. reopen the run.launch and replay your bag.

Run the package

1. Run the launch file:

roslaunch gnss_localizer run.launch

2. Play existing bag files:

rosbag play your-bag.bag --clock

Acknowledgements

The gnss_localizer is implemented based on Autoware-AI; Thanks rviz_satellite and Autoware-AI;