Use this plugin with a transform or Odometry

[reinzor]

Hi,

We are fusing various sources to obtain our final position estimate in UTM frame. Can we use this plugin without a NavSat message? If not, could you provide me some pointers for implementing this?

Thanks

[beetleskin]

@reinzor I guess this is outdated?

To answer the question: of course, you can fork this plugin and use your custom-message instead of the NavSat one.

[reinzor]

Thanks for your reply, this is indeed outdated for me so I will close the issue.

[Timple]

There is a workaround if you use the navsat_transform_node. You can set the ~publish_filtered_gps parameter which will output a /gps/filtered topic which will contain your fused position in gps notation which you can then use for this plugin.