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Package Summary

The geonav_transform package

Package Summary

The geonav_transform package

Package Summary

The geonav_transform package


The geonav_transform package includes the following


Since this package is currently under development, the standard git, catkin_make, source setup.bash workflow should be used to access the C++ nodes and Python utility modules.


The goal of this node is to simplify the integration of accurate/precise geographic navigation information (typically from a sensor) into the ROS localization and navigation workflows. To those ends, the geonav_tranform_node can perform the following functions:

The use-case that motivated this project is integrating sensors that provide a GPS-aided INS solution (e.g., microstrain, advanced navigation, Xsens, etc.). This situation is analogous to using an ekf/ukf node from robot_localization package to fuse IMU and GPS information, but in this case the processing is done by the sensor. The purpose of this package is to allow integration of this type of sensor directly into the ROS navigation stack.


ROS node to provide conversions (both data and tf transforms) between geodetic, utm and odom frames.

Subscribed Topics

nav_odom (nav_msgs/Odometry)

Published Topics

geonav_odom (nav_msgs/Odometry) geonav_utm (nav_msgs/Odometry)


datum (three element array of doubles [Latitude, Logitude, Altitude]) frequency (float, default: 10 Hz) broadcast_utm2odom_transform (bool, default: True.) broadcast_odom2base_transform (bool, default: True.) zero_altitude (bool, default: False) base_link_frame_id (string, default: base_link) odom_frame_id (, default: odom) utm_frame_id (, default: utm) orientation_ned (bool, default: true)

Provided tf Transforms

utmodom odombase_link

Odometry in Geographic Coordinates

The node assumes that the geographic navigation information is provided as an Odometry message as described below.

Coordinate Frames

Local Coordinate Transforms

The package also includes utilities, currently in Python, for conversion between geographic (lat/lon) local (x/y) coordinates.

Python Modules

Two python modules are included. These modules should be accessible (in the Python path for import) if you follow the catkin_make, source devel/setup.bash workflow due to the settings in package.xml and CMakeLists.txt.

  1. alvinxy: Simple, rectilinear transform between lat/lon and x/y
  2. geonav_tranform: Transform between lat/lon and x/y using UTM coordinates.

The use of both modules is documented in the API documentation and there are examples in the examples directory.

2019-11-30 12:43