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

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