novatel计算odom--GPS坐标与UTM坐标转换
保证你的novatel的driver是在ros-drivers上的驱动
1 简介
1.1 消息
gps_common定义了两个通用消息，供GPS驱动程序输出：gps_common/GPSFix和gps_common/GPSStatus。
在大多数情况下，这些消息应同时发布，并带有相同的时间戳。
1.2 utm_odometry_node节点
utm_odometry_node将经纬度坐标转换为UTM坐标。
1.3 订阅的话题
fix (sensor_msgs/NavSatFix)：GPS测量和状态
1.4 发布的话题
odom (nav_msgs/Odometry)：UTM编码的位置
1.5 参数
~rot_covariance (double, default: 99999)：指定旋转测量的方差（以米为单位）
~frame_id (string, default: Copy frame_id from fix message): Frame to specify in header of outgoing Odometry message
~child_frame_id (string): Child frame to specify in header of outgoing Odometry message
2 安装
mkdir -p ~/gps_ws/src
cd ~/gps_ws/src
git clone https://github.com/swri-robotics/gps_umd.git
cd ..
catkin_make
报错:
CMake Error at /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:367 (message):
A required package was not found
Call Stack (most recent call first):
/usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal)
gps_umd/gpsd_client/CMakeLists.txt:15 (pkg_check_modules)
– Configuring incomplete, errors occurred!
解决办法：
sudo apt-get install libgps-dev
最后，重新编译：
catkin_make3 GPS坐标与UTM坐标的转换
先写这个，个人认为用得比较多。
3.1 GPS坐标转换为UTM坐标
源文件utm_odometry_node.cpp:
/*
* Translates sensor_msgs/NavSat{Fix,Status} into nav_msgs/Odometry using UTM
*/
#include
#include
#include
#include
#include
#include
#include
using namespace gps_common;
static ros::Publisher odom_pub;
std::string frame_id, child_frame_id;
double rot_cov;
bool append_zone = false;
void callback(const sensor_msgs::NavSatFixConstPtr& fix) {
if (fix->status.status == sensor_msgs::NavSatStatus::STATUS_NO_FIX) {
ROS_DEBUG_THROTTLE(60,"No fix.");
return;
}
if (fix->header.stamp == ros::Time(0)) {
return;
}
double northing, easting;
std::string zone;
LLtoUTM(fix->latitude, fix->longitude, northing, easting, zone);
if (odom_pub) {
nav_msgs::Odometry odom;
odom.header.stamp = fix->header.stamp;
if (frame_id.empty()) {
if(append_zone) {
odom.header.frame_id = fix->header.frame_id + "/utm_" + zone;
} else {
odom.header.frame_id = fix->header.frame_id;
}
} else {
if(append_zone) {
odom.header.frame_id = frame_id + "/utm_" + zone;
} else {
odom.header.frame_id = frame_id;
}
}
odom.child_frame_id = child_frame_id;
odom.pose.pose.position.x = easting;
odom.pose.pose.position.y = northing;
odom.pose.pose.position.z = fix->altitude;
odom.pose.pose.orientation.x = 0;
odom.pose.pose.orientation.y = 0;
odom.pose.pose.orientation.z = 0;
odom.pose.pose.orientation.w = 1;
// Use ENU covariance to build XYZRPY covariance
boost::array covariance = {{
fix->position_covariance[0],
fix->position_covariance[1],
fix->position_covariance[2],
0, 0, 0,
fix->position_covariance[3],
fix->position_covariance[4],
fix->position_covariance[5],
0, 0, 0,
fix->position_covariance[6],
fix->position_covariance[7],
fix->position_covariance[8],
0, 0, 0,
0, 0, 0, rot_cov, 0, 0,
0, 0, 0, 0, rot_cov, 0,
0, 0, 0, 0, 0, rot_cov
}};
odom.pose.covariance = covariance;
odom_pub.publish(odom);
}
}
int main (int argc, char **argv) {
ros::init(argc, argv, "utm_odometry_node");
ros::NodeHandle node;
ros::NodeHandle priv_node("~");
priv_node.param("frame_id", frame_id, "");
priv_node.param("child_frame_id", child_frame_id, "");
priv_node.param("rot_covariance", rot_cov, 99999.0);
priv_node.param("append_zone", append_zone, false);
odom_pub = node.advertise("odom", 10);
ros::Subscriber fix_sub = node.subscribe("fix", 10, callback);
ros::spin();
}
坐标转换函数所在的头文件conversion.h:
/* Taken from utexas-art-ros-pkg:art_vehicle/applanix */
/*
* Conversions between coordinate systems.
*
* Includes LatLong<->UTM.
*/
#ifndef _UTM_H
#define _UTM_H
/** @file
@brief Universal Transverse Mercator transforms.
Functions to convert (spherical) latitude and longitude to and
from (Euclidean) UTM coordinates.
@author Chuck Gantz- [email protected]
*/
#include
#include
#include
namespace gps_common
{
const double RADIANS_PER_DEGREE = M_PI/180.0;
const double DEGREES_PER_RADIAN = 180.0/M_PI;
// WGS84 Parameters
const double WGS84_A = 6378137.0; // major axis
const double WGS84_B = 6356752.31424518; // minor axis
const double WGS84_F = 0.0033528107; // ellipsoid flattening
const double WGS84_E = 0.0818191908; // first eccentricity
const double WGS84_EP = 0.0820944379; // second eccentricity
// UTM Parameters
const double UTM_K0 = 0.9996; // scale factor
const double UTM_FE = 500000.0; // false easting
const double UTM_FN_N = 0.0; // false northing on north hemisphere
const double UTM_FN_S = 10000000.0; // false northing on south hemisphere
const double UTM_E2 = (WGS84_E*WGS84_E); // e^2
const double UTM_E4 = (UTM_E2*UTM_E2); // e^4
const double UTM_E6 = (UTM_E4*UTM_E2); // e^6
const double UTM_EP2 = (UTM_E2/(1-UTM_E2)); // e'^2
/**
* Utility function to convert geodetic to UTM position
*
* Units in are floating point degrees (sign for east/west)
*
* Units out are meters
*/
static inline void UTM(double lat, double lon, double *x, double *y)
{
// constants
const static double m0 = (1 - UTM_E2/4 - 3*UTM_E4/64 - 5*UTM_E6/256);
const static double m1 = -(3*UTM_E2/8 + 3*UTM_E4/32 + 45*UTM_E6/1024);
const static double m2 = (15*UTM_E4/256 + 45*UTM_E6/1024);
const static double m3 = -(35*UTM_E6/3072);
// compute the central meridian
int cm = ((lon >= 0.0)
? ((int)lon - ((int)lon)%6 + 3)
: ((int)lon - ((int)lon)%6 - 3));
// convert degrees into radians
double rlat = lat * RADIANS_PER_DEGREE;
double rlon = lon * RADIANS_PER_DEGREE;
double rlon0 = cm * RADIANS_PER_DEGREE;
// compute trigonometric functions
double slat = sin(rlat);
double clat = cos(rlat);
double tlat = tan(rlat);
// decide the false northing at origin
double fn = (lat > 0) ? UTM_FN_N : UTM_FN_S;
double T = tlat * tlat;
double C = UTM_EP2 * clat * clat;
double A = (rlon - rlon0) * clat;
double M = WGS84_A * (m0*rlat + m1*sin(2*rlat)
+ m2*sin(4*rlat) + m3*sin(6*rlat));
double V = WGS84_A / sqrt(1 - UTM_E2*slat*slat);
// compute the easting-northing coordinates
*x = UTM_FE + UTM_K0 * V * (A + (1-T+C)*pow(A,3)/6
+ (5-18*T+T*T+72*C-58*UTM_EP2)*pow(A,5)/120);
*y = fn + UTM_K0 * (M + V * tlat * (A*A/2
+ (5-T+9*C+4*C*C)*pow(A,4)/24
+ ((61-58*T+T*T+600*C-330*UTM_EP2)
* pow(A,6)/720)));
return;
}
/**
* Determine the correct UTM letter designator for the
* given latitude
*
* @returns 'Z' if latitude is outside the UTM limits of 84N to 80S
*
* Written by Chuck Gantz- [email protected]
*/
static inline char UTMLetterDesignator(double Lat)
{
char LetterDesignator;
if ((84 >= Lat) && (Lat >= 72)) LetterDesignator = 'X';
else if ((72 > Lat) && (Lat >= 64)) LetterDesignator = 'W';
else if ((64 > Lat) && (Lat >= 56)) LetterDesignator = 'V';
else if ((56 > Lat) && (Lat >= 48)) LetterDesignator = 'U';
else if ((48 > Lat) && (Lat >= 40)) LetterDesignator = 'T';
else if ((40 > Lat) && (Lat >= 32)) LetterDesignator = 'S';
else if ((32 > Lat) && (Lat >= 24)) LetterDesignator = 'R';
else if ((24 > Lat) && (Lat >= 16)) LetterDesignator = 'Q';
else if ((16 > Lat) && (Lat >= 8)) LetterDesignator = 'P';
else if (( 8 > Lat) && (Lat >= 0)) LetterDesignator = 'N';
else if (( 0 > Lat) && (Lat >= -8)) LetterDesignator = 'M';
else if ((-8 > Lat) && (Lat >= -16)) LetterDesignator = 'L';
else if((-16 > Lat) && (Lat >= -24)) LetterDesignator = 'K';
else if((-24 > Lat) && (Lat >= -32)) LetterDesignator = 'J';
else if((-32 > Lat) && (Lat >= -40)) LetterDesignator = 'H';
else if((-40 > Lat) && (Lat >= -48)) LetterDesignator = 'G';
else if((-48 > Lat) && (Lat >= -56)) LetterDesignator = 'F';
else if((-56 > Lat) && (Lat >= -64)) LetterDesignator = 'E';
else if((-64 > Lat) && (Lat >= -72)) LetterDesignator = 'D';
else if((-72 > Lat) && (Lat >= -80)) LetterDesignator = 'C';
// 'Z' is an error flag, the Latitude is outside the UTM limits
else LetterDesignator = 'Z';
return LetterDesignator;
}
/**
* Convert lat/long to UTM coords. Equations from USGS Bulletin 1532
*
* East Longitudes are positive, West longitudes are negative.
* North latitudes are positive, South latitudes are negative
* Lat and Long are in fractional degrees
*
* Written by Chuck Gantz- [email protected]
*/
static inline void LLtoUTM(const double Lat, const double Long,
double &UTMNorthing, double &UTMEasting,
char* UTMZone)
{
double a = WGS84_A;
double eccSquared = UTM_E2;
double k0 = UTM_K0;
double LongOrigin;
double eccPrimeSquared;
double N, T, C, A, M;
//Make sure the longitude is between -180.00 .. 179.9
double LongTemp = (Long+180)-int((Long+180)/360)*360-180;
double LatRad = Lat*RADIANS_PER_DEGREE;
double LongRad = LongTemp*RADIANS_PER_DEGREE;
double LongOriginRad;
int ZoneNumber;
ZoneNumber = int((LongTemp + 180)/6) + 1;
if( Lat >= 56.0 && Lat < 64.0 && LongTemp >= 3.0 && LongTemp < 12.0 )
ZoneNumber = 32;
// Special zones for Svalbard
if( Lat >= 72.0 && Lat < 84.0 )
{
if( LongTemp >= 0.0 && LongTemp < 9.0 ) ZoneNumber = 31;
else if( LongTemp >= 9.0 && LongTemp < 21.0 ) ZoneNumber = 33;
else if( LongTemp >= 21.0 && LongTemp < 33.0 ) ZoneNumber = 35;
else if( LongTemp >= 33.0 && LongTemp < 42.0 ) ZoneNumber = 37;
}
// +3 puts origin in middle of zone
LongOrigin = (ZoneNumber - 1)*6 - 180 + 3;
LongOriginRad = LongOrigin * RADIANS_PER_DEGREE;
//compute the UTM Zone from the latitude and longitude
snprintf(UTMZone, 4, "%d%c", ZoneNumber, UTMLetterDesignator(Lat));
eccPrimeSquared = (eccSquared)/(1-eccSquared);
N = a/sqrt(1-eccSquared*sin(LatRad)*sin(LatRad));
T = tan(LatRad)*tan(LatRad);
C = eccPrimeSquared*cos(LatRad)*cos(LatRad);
A = cos(LatRad)*(LongRad-LongOriginRad);
M = a*((1 - eccSquared/4 - 3*eccSquared*eccSquared/64 - 5*eccSquared*eccSquared*eccSquared/256)*LatRad
- (3*eccSquared/8 + 3*eccSquared*eccSquared/32 + 45*eccSquared*eccSquared*eccSquared/1024)*sin(2*LatRad)
+ (15*eccSquared*eccSquared/256 + 45*eccSquared*eccSquared*eccSquared/1024)*sin(4*LatRad)
- (35*eccSquared*eccSquared*eccSquared/3072)*sin(6*LatRad));
UTMEasting = (double)(k0*N*(A+(1-T+C)*A*A*A/6
+ (5-18*T+T*T+72*C-58*eccPrimeSquared)*A*A*A*A*A/120)
+ 500000.0);
UTMNorthing = (double)(k0*(M+N*tan(LatRad)*(A*A/2+(5-T+9*C+4*C*C)*A*A*A*A/24
+ (61-58*T+T*T+600*C-330*eccPrimeSquared)*A*A*A*A*A*A/720)));
if(Lat < 0)
UTMNorthing += 10000000.0; //10000000 meter offset for southern hemisphere
}
static inline void LLtoUTM(const double Lat, const double Long,
double &UTMNorthing, double &UTMEasting,
std::string &UTMZone) {
char zone_buf[] = {0, 0, 0, 0};
LLtoUTM(Lat, Long, UTMNorthing, UTMEasting, zone_buf);
UTMZone = zone_buf;
}
/**
* Converts UTM coords to lat/long. Equations from USGS Bulletin 1532
*
* East Longitudes are positive, West longitudes are negative.
* North latitudes are positive, South latitudes are negative
* Lat and Long are in fractional degrees.
*
* Written by Chuck Gantz- [email protected]
*/
static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting,
const char* UTMZone, double& Lat, double& Long )
{
double k0 = UTM_K0;
double a = WGS84_A;
double eccSquared = UTM_E2;
double eccPrimeSquared;
double e1 = (1-sqrt(1-eccSquared))/(1+sqrt(1-eccSquared));
double N1, T1, C1, R1, D, M;
double LongOrigin;
double mu, phi1Rad;
double x, y;
int ZoneNumber;
char* ZoneLetter;
x = UTMEasting - 500000.0; //remove 500,000 meter offset for longitude
y = UTMNorthing;
ZoneNumber = strtoul(UTMZone, &ZoneLetter, 10);
if((*ZoneLetter - 'N') < 0)
{
y -= 10000000.0;//remove 10,000,000 meter offset used for southern hemisphere
}
LongOrigin = (ZoneNumber - 1)*6 - 180 + 3; //+3 puts origin in middle of zone
eccPrimeSquared = (eccSquared)/(1-eccSquared);
M = y / k0;
mu = M/(a*(1-eccSquared/4-3*eccSquared*eccSquared/64-5*eccSquared*eccSquared*eccSquared/256));
phi1Rad = mu + (3*e1/2-27*e1*e1*e1/32)*sin(2*mu)
+ (21*e1*e1/16-55*e1*e1*e1*e1/32)*sin(4*mu)
+(151*e1*e1*e1/96)*sin(6*mu);
N1 = a/sqrt(1-eccSquared*sin(phi1Rad)*sin(phi1Rad));
T1 = tan(phi1Rad)*tan(phi1Rad);
C1 = eccPrimeSquared*cos(phi1Rad)*cos(phi1Rad);
R1 = a*(1-eccSquared)/pow(1-eccSquared*sin(phi1Rad)*sin(phi1Rad), 1.5);
D = x/(N1*k0);
Lat = phi1Rad - (N1*tan(phi1Rad)/R1)*(D*D/2-(5+3*T1+10*C1-4*C1*C1-9*eccPrimeSquared)*D*D*D*D/24
+(61+90*T1+298*C1+45*T1*T1-252*eccPrimeSquared-3*C1*C1)*D*D*D*D*D*D/720);
Lat = Lat * DEGREES_PER_RADIAN;
Long = (D-(1+2*T1+C1)*D*D*D/6+(5-2*C1+28*T1-3*C1*C1+8*eccPrimeSquared+24*T1*T1)
*D*D*D*D*D/120)/cos(phi1Rad);
Long = LongOrigin + Long * DEGREES_PER_RADIAN;
}
static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting,
std::string UTMZone, double& Lat, double& Long) {
UTMtoLL(UTMNorthing, UTMEasting, UTMZone.c_str(), Lat, Long);
}
} // end namespace UTM
#endif // _UTM_H
运行：
rosrun gps_common utm_odometry_node3.2 UTM坐标转换为GPS坐标
代码在~/gps_ws/src/gps_umd/gps_common/src/utm_odometry_to_navsatfix_node.cpp，这里就不贴了。
注：代码写得标准又易读，值得学习，这也是我在这里贴代码的原因。
4 sensor_msgs/NavSatFix与gps_common/GPSFix的转换
sensor_msgs/NavSatFix的内容见：http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html
gps_common/GPSFix的路径为~/tingjiandan/gps_ws/src/gps_umd/gps_common/msg/GPSFix.msg，描述如下：
# A more complete GPS fix to supplement sensor_msgs/NavSatFix.
主函数fix_translator.py:
#!/usr/bin/env python
# Translates from NavSatFix to GPSFix and back
import rospy
from sensor_msgs.msg import NavSatFix
from gps_common.msg import GPSFix
import gps_common.gps_message_converter as converter
navsat_pub = rospy.Publisher('navsat_fix_out', NavSatFix, queue_size=10)
gps_pub = rospy.Publisher('gps_fix_out', GPSFix, queue_size=10)
def navsat_callback(navsat_msg):
gps_msg = converter.navsatfix_to_gpsfix(navsat_msg)
gps_pub.publish(gps_msg)
# Translates from GPSFix to NavSatFix.
# As GPSFix can store much more information than NavSatFix,
# a lot of this additional information might get lost.
def gps_callback(gps_msg):
navsat_msg = converter.gpsfix_to_navsatfix(gps_msg)
navsat_pub.publish(navsat_msg)
if __name__ == '__main__':
rospy.init_node('fix_translator', anonymous=True)
navsat_sub = rospy.Subscriber("navsat_fix_in", NavSatFix, navsat_callback)
gps_sub = rospy.Subscriber("gps_fix_in", GPSFix, gps_callback)
rospy.spin()
消息转换函数gps_message_converter.py:
from sensor_msgs.msg import NavSatFix
from sensor_msgs.msg import NavSatStatus
from gps_common.msg import GPSFix
from gps_common.msg import GPSStatus
def navsatfix_to_gpsfix(navsat_msg):
# Convert sensor_msgs/NavSatFix messages to gps_common/GPSFix messages
gpsfix_msg = GPSFix()
gpsfix_msg.header = navsat_msg.header
gpsfix_msg.status.status = navsat_msg.status.status
gpsfix_msg.status.motion_source = GPSStatus.SOURCE_NONE
gpsfix_msg.status.orientation_source = GPSStatus.SOURCE_NONE
gpsfix_msg.status.position_source = GPSStatus.SOURCE_NONE
if ((navsat_msg.status.service & NavSatStatus.SERVICE_GPS) or
(navsat_msg.status.service & NavSatStatus.SERVICE_GLONASS) or
(navsat_msg.status.service & NavSatStatus.SERVICE_GALILEO)):
gpsfix_msg.status.motion_source = \
gpsfix_msg.status.motion_source | GPSStatus.SOURCE_GPS
gpsfix_msg.status.orientation_source = \
gpsfix_msg.status.orientation_source | GPSStatus.SOURCE_GPS
gpsfix_msg.status.position_source = \
gpsfix_msg.status.position_source | GPSStatus.SOURCE_GPS
if navsat_msg.status.service & NavSatStatus.SERVICE_COMPASS:
gpsfix_msg.status.orientation_source = \
gpsfix_msg.status.orientation_source | GPSStatus.SOURCE_MAGNETIC
gpsfix_msg.latitude = navsat_msg.latitude
gpsfix_msg.longitude = navsat_msg.longitude
gpsfix_msg.altitude = navsat_msg.altitude
gpsfix_msg.position_covariance = navsat_msg.position_covariance
gpsfix_msg.position_covariance_type = navsat_msg.position_covariance_type
return gpsfix_msg
def gpsfix_to_navsatfix(gpsfix_msg):
# Convert gps_common/GPSFix messages to sensor_msgs/NavSatFix messages
navsat_msg = NavSatFix()
navsat_msg.header = gpsfix_msg.header
# Caution: GPSFix has defined some additional status constants, which are
# not defined in NavSatFix.
navsat_msg.status.status = gpsfix_msg.status.status
navsat_msg.status.service = 0
if gpsfix_msg.status.position_source & GPSStatus.SOURCE_GPS:
navsat_msg.status.service = \
navsat_msg.status.service | NavSatStatus.SERVICE_GPS
if gpsfix_msg.status.orientation_source & GPSStatus.SOURCE_MAGNETIC:
navsat_msg.status.service = \
navsat_msg.status.service | NavSatStatus.SERVICE_COMPASS
navsat_msg.latitude = gpsfix_msg.latitude
navsat_msg.longitude = gpsfix_msg.longitude
navsat_msg.altitude = gpsfix_msg.altitude
navsat_msg.position_covariance = gpsfix_msg.position_covariance
navsat_msg.position_covariance_type = gpsfix_msg.position_covariance_type
return navsat_msg
launch文件fix_translator.launch:
注释写得很详细，就不翻译了。
运行：
roslaunch gps_common fix_translator.launch
注：ROS支持Python，这个项目同时使用了C++和Python，值得学习一下哦。
5 参考
[1] Github: http://wiki.ros.org/gps_common
[2] ROS wiki: http://wiki.ros.org/gps_common