is it possible to convert 2D nav goal to actual gps?

nobleo / rviz_satellite

Display internet satellite imagery in RViz

Apache License 2.0

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is it possible to convert 2D nav goal to actual gps? #83

Closed KalanaRatnayake closed 4 years ago

KalanaRatnayake commented 4 years ago

I have been looking at various drone trajectory planners and they expect either a GPS or xyz coordinates to functions. Since this plugin supports visualizing map on rviz, would it be possible to convert/improve "2D nav goal" functionality on rviz to output GPS coordinates of the selected location? i can assume that the calculation depend on zoom level, (some thing like 2D nav goal -> scaled up distance -> GPS coordinate) but cannot wrap around my head a way to implement it.

dseifert commented 4 years ago

Calculation does not depend on zoom level. I don't think it makes sense to put it into this plugin, as there would be basically zero overlapping code/functionality.

To translate from ENU (xyz coordinate, or with 2D nav goal limited to xy) to GPS (WGS84, limited to lat/lon for 2D) you could use existing ROS packages/libraries (quick googling found https://github.com/ethz-asl/geodetic_utils/blob/master/geodetic_utils/include/geodetic_utils/geodetic_conv.hpp#L166)

KalanaRatnayake commented 4 years ago

Nice! Thanks. I'll look it up

schra commented 4 years ago

Agreed, we will only support positions via GPS