New model plugin to simulate GPS receiver#42
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| #include <flatland_server/timekeeper.h> | ||
| #include <flatland_server/types.h> | ||
| #include <ros/ros.h> | ||
| #include <sensor_msgs/NavSatFix.h> |
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I think it should technically already have been there due to the laser scan plugin, but we're missing a build/run dependency on sensor_msgs in package.xml for flatland_plugins.
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Fixed the sensor messages include on master |
JoaoCostaIFG
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Nov 30, 2022
New model plugin to simulate GPS receiver
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I added a GPS simulation model plugin for my students to practice GPS waypoint navigation with obstacle avoidance. If you're interested in incorporating it into the main repository, I am willing to share it!
At the moment, the NavSatFix output is perfectly accurate. In the future, it might be nice to implement some of the ideas in the hector GPS Gazebo plugin https://github.com/tu-darmstadt-ros-pkg/hector_gazebo to make things more realistic. For now though, I need to move on to get other things ready for the class.