search

ethz-asl / geodetic_utils

Simple library for converting coordinates to/from several geodetic frames (lat/lon, ECEF, ENU, NED, etc.)
248 stars 104 forks source link

Conversion of lat & lon to ECEF coordinates #34

Open pallyra1 opened 6 years ago

pallyra1 commented 6 years ago

I want to convert latitude and longitude provided by the gps to ECEF coordinates and further convert them to NED coordinates. What are the steps to do that? I am new to ROS.

Upon using command rosrun geodetic_utils set_gps_reference_node I am getting,

[ INFO] [1516291269.537867694]: Usage: set_gps_reference [n_fixes] [average|wait], defaults: n_fixes=50, average [ INFO] [1516291269.537931520]: Taking 2 measurements and averaging to get the reference

Then using the command, rosrun geodetic_utils gps_to_pose_conversion_node I am getting,

[ INFO] [1516295811.468117753]: Waiting for GPS reference parameters... [ INFO] [1516295811.468581024]: GPS reference not ready yet, use set_gps_reference_node to set it

yash508oza commented 6 years ago

I am also facing the same issue. 

[ INFO] [1516295811.468117753]: Waiting for GPS reference parameters...
[ INFO] [1516295811.468581024]: GPS reference not ready yet, use set_gps_reference_node to set it

The GPS is not able to initialize properly, maybe ? Any help from the mods would be greatly appreciated! Thanks

marija-p commented 6 years ago

Hi @pallyra1 and @yashoza ,

It seems you are having trouble with the set_gps_reference node. This node subscribes to a GPS message topic, waits and averages the measurements it receives, and then publishes the result to the parameter server (gps_ref_latitude, gps_ref_longitude, gps_ref_altitude, gps_ref_is_init).

If your node is not receiving messages on the gps topic, it will not be able to set the references, and subsequent nodes that rely on them will not be able to function. Therefore, you need to check that you are reciving a gps fix from your device and make sure it is remapped correctly to the gps topic. You can type:

rostopic echo gps

to see if valid measurements are received.

Hope this helps & please let me know how it goes. Thanks for using our repo!