Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Rolling (u24.04)

mola_gnss_to_markers

Takes GNSS (GPS) readings, a MOLA georeferenced map, and publishes markers to visualize the datums as ellipsoids on the map.

Usage

ros2 launch mola_gnss_to_markers mola_gnss_to_markers_launch.py

All ROS2 launch arguments

ros2 launch mola_gnss_to_markers mola_gnss_to_markers_launch.py --show-args
Arguments (pass arguments as '<name>:=<value>'):

    'input_topic_gps':
        no description given
        (default: '/gps')

    'input_topic_georef_metadata':
        no description given
        (default: '/lidar_odometry/geo_ref_metadata')

    'output_topic_marker':
        no description given
        (default: '/gnss_georef_marker')

    'output_marker_line_width':
        no description given
        (default: '0.3')

    'output_marker_color':
        no description given
        (default: '[0.0, 1.0, 0.0, 0.6]')

Input topics:

• /lidar_odometry/geo_ref_metadata (mrpt_nav_interfaces/msg/GeoreferencingMetadata)
• /gps (sensor_msgs/msg/NavSatFix)

Output topics:

• gnns_georef_marker (visualization_msgs/msg/Marker)

License

BSD-3-Clause