Is there some way of sending goals to the navigation stack as latitude/longitude coordinates?
I know that you can send a goal to /move_base_simple/goal as relative coordinates - i.e. you specify an xyz position relative to the robot's current position and it will navigate there. But for outdoor navigation I want to be able to specify a goal as a latitude and longitude.
I also know that some ROS packages exist (such as gps_common) for converting global to local coordinate frames. However while I'm prepared to go down that route, I wanted to see if there was an easier way, since converting global coordinate frames starts getting very complicated very quickly depending on where you are in the world and what coordinate system you are using.
↧