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GPS sensor

A sensor that reports position and velocity readings over Gazebo Transport using spherical coordinates (latitude / longitude).

By default, it publishes gz::msgs::NavSat messages on the /.../navsat topic.

This sensor assumes the world is using the East-North-Up (ENU) frame.

Usage

  • Add plugin (world scope)
  • Add Sensor
  • Set coordinate system
plugin
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<plugin
    filename="gz-sim-navsat-system"
    name="gz::sim::systems::NavSat">
</plugin>
set init position
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<spherical_coordinates>
    <surface_model>EARTH_WGS84</surface_model>
    <world_frame_orientation>ENU</world_frame_orientation>
    <latitude_deg>-22.9</latitude_deg>
    <longitude_deg>-43.2</longitude_deg>
    <elevation>0</elevation>
    <heading_deg>0</heading_deg>
</spherical_coordinates>
Add sensor to link
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<sensor name="navsat_sensor" type="navsat">
    <always_on>1</always_on>
    <update_rate>30</update_rate>
</sensor>

Demo: Add gps to moving robot

source

navsat message
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header {
  stamp {
    sec: 144
    nsec: 375000000
  }
  data {
    key: "seq"
    value: "458"
  }
}
latitude_deg: 32.085300000006519
longitude_deg: 34.781805296318218
altitude: 0.400005079805851
velocity_east: 5.1652987103355663e-13
velocity_north: 2.4066905466697168e-13
velocity_up: -2.0528406453625662e-13
frame_id: "vehicle_blue::chassis::navsat_sensor"

Reference