art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_observers | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

ROS driver for the Applanix Position and Orientation System for Land Vehicles (POS-LV).

• Author: Jack O'Quin, Patrick Beeson, Alberto Alonso
• License: BSD
• Repository: utexas-art-ros-pkg
• Source: svn http://utexas-art-ros-pkg.googlecode.com/svn/trunk/stacks/art_vehicle/applanix

Applanix Odometry driver

Usage

  rosrun applanix odometry [options]

Options:
    -f <filename>  PCAP packet dump file name (default: use real device)
    -h, -?         print help text
    -q <integer>   set ROS topic queue depth (default: 1)
    -t <filename>  run unit test with fake data from <filename>

Examples

Read the Applanix POS-LV, publishing gps and odom messages.

$ rosrun applanix odometry

Read previously captured Applanix packets from dump.pcap file.

$ rosrun applanix odometry -f dump.pcap

odometry

Subscribed Topics

• Transmission gear currently selected.

Published Topics

• Three-dimensional odometry from Applanix POS-LV.

• Inertial measurements from Applanix POS-LV.

• Latitude and longitude data from Applanix POS-LV.

Provided tf Transforms

• 2D frame in UTM grid at same elevation as vehicle.

• 3D pose of vehicle in UTM grid relative to mean sea level.