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.
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 aregps/fix
andgps/fix_velocity
By default, it assumes the robot starts at 49.9, 8.9 and at an altitude of 0I 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.