Convert ROS GPS/GNSS messages to geometry_msgs/PoseStamped and nav_msgs/Path to visualize in Rviz

• sensor_msgs/NavSatFix message to geometry_msgs/PoseStamped and nav_msgs/Path

Requirement

• Install utm python library

$ python -m pip install utm #for python2

or

$ python3 -m pip install utm #for python3

$ cd <your_workspace>/src
$ git clone https://github.com/engcang/utm_to_pose_path.git
$ cd ..
$ catkin build
$ source devel/setup.bash

Execution

• simply run

$ roslaunch utm_to_pose_path utm_to_pose_path.launch

• Edit parent frame id, child frame id, and topic name in launch files

• for visualization,

$ roscd utm_to_pose_path
$ rviz -d rviz.rviz