gps2loc

This driver translates a set of GPS coordinates into a local coordinate frame. The origin of the local frame is determined by a GPS reference point and specified in the config file, or by the coordinate recieved when the vehicle starts up. The orientation of the local coordinate system is aligned with the compass' north.

This driver reads the GPS data from a GPS proxy, and reads odometry information (for correction) and compass information (for vehicle heading) from two seperate Position2d interfaces.

Compile-time dependencies

• none

Provides

• interface_localize

Requires

• interface_position2d : Position2d Odometry information
• interface_position2d : Position2d Digital Compass Information
• interface_gps : GPS Coordinates

Configuration requests

• none

Configuration file options

• origin
  • Default: GPS point where the vehicle starts up
  • Provide the GPS point of the (0,0) local coordinate system
  • Note that the map's North is always aligned to the compass' North

Example

driver
(
  name "gps2loc"
  provides ["localize:0"]
  requires ["compass:::position2d:1" "odometry:::position2d:0" "gps:0"]

  origin [0.0 0.0]
)

Author:

Pramod Vermapulli, Rich Mattes