applanix Documentation

applanix: Applanix POS-LV driver

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

Homepage: http://www.ros.org/wiki/applanix

This is a ROS device driver node for the Applanix Position and Orientation System for Land Vehicles (POS-LV). Takes input from the device and publishes it to the odom and gps topics. Also, broadcasts a transform from the vehicle to the odom frame of reference.

Applanix Odometry driver

Usage

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

Applanix ROS API

Node name: applanix

Publishes:

• odom three-dimensional odometry from Applanix
• gps Applanix GPS information
• transform from vehicle to odom frame of reference

Subscribes:

• shifter/state transmission gear currently selected