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Field-Robotics-Lab / glider_hybrid_whoi

(Hybrid-) AUG Simulator
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Wrapper for spawn_model with pyproj #51

Closed woensug-choi closed 2 years ago

woensug-choi commented 3 years ago

The original spawn_model script (uuv_descriptions/spawn_model) was designed to take lat/lon geodetic initial position as well as x/y position. However, it did not work correctly nor accurate.

PR https://github.com/Field-Robotics-Lab/glider_hybrid_whoi/pull/50 included a new glider_hybri_whoi_description/spawn_model script which is modified version of uuv_descriptions/spawn_model by replacing pymap3d to pyproj python package.

It works correctly for our purposes but copy/modify the external script is not much desirable. The wrapper function glider_hybri_whoi_description/spawn_model_wrapper only calculate lat/lon with pyproj and calls uuv_descriptions/spawn_model to spawn will be a more generic way to serve the purpose.

woensug-choi commented 2 years ago

https://github.com/Field-Robotics-Lab/dave/pull/177 includes a new initial positioning node using python gdal module.