unsupported topic type type for sensor GPS

[droter]

Hi,

What are the GPS message types supported?
Is it possible to add:
sensor_msgs/NavSatFix
nav_msgs/Odometry

In the GPS config:
'GPS':
type: AbsolutePosition
is_master: False
frame_id: /gps_link
topic: /enu
topic_type: geometry_msgs/PoseWithCovarianceStamped
use_header_stamp: True
static_covariance: True
covariance: [0.7, 0.0, 0.0,
0.0, 0.7, 0.0,
0.0, 0.0, 1.0 ]

Thanks,

Matt

[DavideACucci]

Dear Matt,
NavSatFix is not directly applicable, as it contains geographic coordinates (lat/lon/h) whereas roamfree determines positions and orientations with respect to a East-North-Up Cartesian frame. To use GPS receivers, geographic coordinates need to be transformed beforehand. One solution is to convert from lat/lon/h in WGS84 (as from the GPS receiver) to XYZ coordinates with respect to an arbitrary (user defined) local-level frame. One way is to use geographiclib.