danielsnider / gps_goal

Set a ROS navigation goal using latitude and longitude.

gps_goal

Set a ROS navigation goal using latitude and longitude.

Installation

$ sudo apt-get install ros-kinetic-gps-goal hugin-tools enblend

Full documentation on wiki: http://wiki.ros.org/gps_goal

gps_goal's Issues

The robot goes in the opposite direction of the target

I am using the below message to send the goal to the robot. The robot can travel to the correct latitude position but opposite longitude position. For example, the goal is at the top left of the robot. The robot will travel to the top right. If the goal is at the top right of the robot. Then the robot will travel to the top left. Any possible solutions? Thank you!
{
"op": "publish",
"topic": "/gps_goal_fix",
"msg": {
"status": {
"status": 2,
"service": 0
},
"altitude": -0.03936214196751092,
"longitude": 8.9002013431619637,
"position_covariance": [741985448272.8313, -1628874706.209279, -437539014936.25494, -1628874706.2092788, 3575855.5841113734, 960525891.8060722, -437539014936.25494, 960525891.8060722, 258010975871.58453],
"header": {
"stamp": {
"secs": 681,
"nsecs": 683000000
},
"frame_id": "wheel_base_link",
"seq": 6813
},
"latitude": 49.90000046264395,
"position_covariance_type": 3
}
}

The server does not connect

I run the code, however the wait_for_server does not respond. I guess I need to have another file for action server. I am not sure if that is right.

Turn this into a ROS Service

Was wondering if there would be any interest in turning this into a ros service instead of publisher /subscriber architectures as is now with the following proposed architecture.

I currently have a fork of this working with the following changes

• GPS origin set by rosparam
• Custom Service Message to hold lat long and heading, that responds with the goal in PoseStamped form

Please let me know if there is interest in this, and I can open up a pull request.

Y coordinate is not right

I have used this stack in my robot_simulation,but I found a problem that the Y coordinate calculated from the calc_goal() function is not fit the ros coordinate. why would be this?

ENU REP-105 heading

gps_goal not work well if used ENU coordinate frame. It needs convert azimuth to heading in function calc_goal