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Convenience ROS 2 package used to transform standard messages from FLU/ENU to FSD/NED and back again

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Robotic-Decision-Making-Lab/mobile_to_maritime

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mobile_to_maritime

mobile_to_maritime is a convenience package used to transform messages defined according the the coordinate frame conventions documented in REP-105 to the maritime conventions documented in REP-156 and back again.

Supported message types

mobile_to_maritime can currently transform the following message types:

  • geometry_msgs/msg/Pose
  • geometry_msgs/msg/PoseStamped
  • geometry_msgs/msg/Twist
  • geometry_msgs/msg/TwistStamped
  • geometry_msgs/msg/Wrench
  • geometry_msgs/msg/WrenchStamped
  • nav_msgs/msg/Odometry

If there is a standard message that you would like to be added, please consider raising a new issue or submitting a pull request.

Installation

To install mobile_to_maritime, first clone this project to the src directory of your ROS workspace:

git clone git@github.com:Robotic-Decision-Making-Lab/mobile_to_maritime.git

After cloning the project, install the ROS dependencies using rosdep:

rosdep update && \
rosdep install -y --from-paths src --ignore-src

Quick Start

To learn more about how to use the nodes and launch files provided in this project, please refer to the project demo.

License

mobile_to_maritime is released under the MIT license.

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Convenience ROS 2 package used to transform standard messages from FLU/ENU to FSD/NED and back again

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