gnss2utmoutlier Node

In a nutshell

This node converts data in WGS84 from sensor_msgs::NavSatFix to UTM NED farol_msgs::Measurement format, just like the gnss2utm node, but creating gps outliers at the same time.

Diagram

Subscribers

Subscribers	msgs type	Purpose
/#vehicle#/sensor/gnss	sensor_msgs/NavSatFix	GNSS information from mounted sensors

Publishers

Publishers	msgs type	Purpose
/#vehicle#/measurement/positions	dsor_msgs/Measurement	Measurement message of vehicles position estimated acquired by the sensors

Services

Services	msgs type	Purpose
/#vehicle#/sensor/fake/enable_gps_outlier	std_srvs/SetBool	Service to enable the gps outlier creation functionality
/#vehicle#/sensor/fake/enable_usbl_delay	std_srvs/SetBool	Service to enable delay while using acoustic usbl sensors

Parameters

Parameters	type	Default	Purpose
/#vehicle#/node_frequency	float	10.0	Working frequency of the node

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Last update: November 8, 2022