kml_parser

A ROS 2 package for parsing .kml files and convert it to the local cartesian coordinates.

Requirements

• ROS2 Humble
• libkml
• GeographicLib

Firstly create workspace:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

Clone this repository into the workspace

git clone https://github.com/hakanaktass/kml_parser.git

Source and Build Workspace

source /opt/ros/humble/setup.bash
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Parameters

Please update necessary paths on kml_parser.param.yaml.

Parameter Name	Description	value
kml_file_path	KML File path	absolute path of kml file (string)

Launch

source install/setup.bash
ros2 launch kml_parser kml_parser.launch.xml

Results