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swri-robotics / gps_umd

BSD 3-Clause "New" or "Revised" License
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gps_umd Build Status

This package contains messages for representing data from GPS devices and algorithms for manipulating it.

This branch converts the messages and algorithms in this repository to support ROS 2 Dashing.

There have been a few architectural changes; if you were using these packages in ROS1, note that the gps_common package has been split into two packages: gps_msgs contains only message definitions, and gps_tools contains the nodes and scripts that were in gps_common. In addition, all of the C++ nodes that were in this repository have been converted into Components.

NavSatFix vs. GPSFix

The node fix_translator converts sensor_msgs/NavSatFix messages to gps_common/GPSFix messages and vice versa. Usage examples:

Translate from NavSatFix to GPSFix

  <node name="fix_translator" pkg="gps_common" type="fix_translator">
    <!-- Translate from NavSatFix to GPSFix //-->
      <remap from="/navsat_fix_in"  to="/YOUR_NAVSATFIX_TOPIC"/>
      <remap from="/gps_fix_out"    to="/YOUR_GPSFIX_TOPIC"/>
  </node>

Translate from GPSFix to NavSatFix

  <node name="fix_translator" pkg="gps_common" type="fix_translator">
    <!-- Translate from GPSFix to NavSatFix //-->
       <remap from="/gps_fix_in"     to="/YOUR_GPSFIX_TOPIC"/>
       <remap from="/navsat_fix_out" to="/YOUR_NAVSATFIX_TOPIC"/>
  </node>

Only adjust the topic names after "to=" in each remap line.

Use with ros1_bridge

The ros1_bridge package must be built from source to enable playback of GPSFix and GPSStatus messages stored in ROS1 bags. This requires that the applicable ROS1 gps_common and ROS2 gps_msgs packages are first installed.