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UTRA-ART / SLAM-1920

SLAM and Navigation on ROS Kinetic
https://utra-art.github.io/SLAM/
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Slam 57 - Adding GPS to Caffeine #84

Closed kajananchinniah closed 4 years ago

kajananchinniah commented 4 years ago

Added GPS sim to caffeine. It launches through the normal way.

Created a link: gps_link for the gps Nodes that gps publishes it's data to are gps/fix and gps/fix_velocity By default, it assumes the robot starts at 49.9, 8.9 and at an altitude of 0

I highly recommend testing this out on Gazebo before accepting this PR as it was difficult to determine whether the GPS works correctly. Currently, there does seem to be a consistent change when I was moving it along axes, but I recommend you test it out yourself to make sure we get the desired effects from the gps.

erickmu1 commented 4 years ago

Default location is now UofT coordinates (lat, lon, alt). GPS looks like it is working