gnss2utm Node
In a nutshell
This node converts data in WGS84 from sensor_msgs::NavSatFix to UTM NED farol_msgs::Measurement format.
Diagram
Subscribers
| Subscribers |
msgs type |
Purpose |
| /#vehicle#/sensor/gnss |
sensor_msgs/NavSatFix |
GNSS information from mounted sensors |
Publishers
| Publishers |
msgs type |
Purpose |
| /#vehicle#/State_gt |
farol_msgs/mState |
Ground truth state of the vehicle |
| /#vehicle#/measurement/positions |
dsor_msgs/Measurement |
Measurement message of vehicles position estimated acquired by the sensors |
Services
| Services |
msgs type |
Purpose |
| /#vehicle#/sensor/enable_gps |
std_srvs/SetBool |
Service to enable the gps functionality |
Parameters
| Parameters |
type |
Default |
Purpose |
| /#vehicle#/node_frequency |
float |
10.0 |
Working frequency of the node |
Last update:
November 8, 2022