GPS

This plugin provides a simple simulation of a perfectly-accurate GPS receiver.

• Reference latitude and longitude are set in the plugin’s YAML parameters. The reference coordinates correspond to (0, 0) in the Flatland world frame.
• The model’s ground truth position in the Flatland world frame is treated as the position in an East-North-Up (ENU) reference frame relative to (0, 0).
• The ENU coordinates are converted to latitude and longitude using the specified reference coordinates and plugging everything into standard equations as defined on Wikipedia
• Publishes a sensor_msgs/NavSatFix message with the current geodetic position of the vehicle.

plugins:

    # required, specify Gps type to load the plugin
  - type: Gps

    # required, name of the plugin
    name: turtlebot_gps

    # required, body of a model to set location of simulated GPS antenna
    body: base

    # optional, defaults to "gps/fix", the topic to advertise for GPS fix outputs
    topic: gps/fix

    # optional, defaults to 10, rate to publish GPS fix, in Hz
    update_rate: 10

    # optional, defaults to true, whether to publish TF
    broadcast_tf: true

    # optional, default to name of this plugin, the TF frame id to publish TF with
    # only used when broadcast_tf=true
    frame: my_frame_name

    # optional, defaults to 0.0, latitude in degrees corresponding
    # to (0, 0) in world frame
    ref_lat: 0.0

    # optional, defaults to 0.0, longitude in degrees corresponding
    # to (0, 0) in world frame
    ref_lon: 0.0

    # optional, default to [0, 0, 0], in the form of [x, y, yaw], the position
    # and orientation to place GPS antenna relative to specified model body
    origin: [0, 0, 0]