gps_umd

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.