Waypoint Server

📍 Waypoint server ROS package with Google Maps integration.

Setup

Clone the repository

git clone

Install Geographic Library

pip install geopy

Usage

• Use catkin to build the ROS package.
• Inside the launch file set the following parameters:
  • Threshold distance (meters)
  • GPS topic: gps_topic
  • Odometry topic:odom_topic
  • Generate Google Maps waypoints: Enable this to generate waypoint using Google Maps
• Run the rosnode

roslaunch waypoint_server waypoint_server.launch

The waypoint server also implements service calls.

• Pose Waypoint
  Service call on the topic pose_waypoint sets pose waypoint with respect to the map frame. This accepts waypoint as a PoseStamped message type.
• Geo Waypoint
  Service call on the topic geo_waypoint sets geo waypoint with respect to the map frame. This accepts waypoint as a NavSatFix message type.

The service calls return 1 is the waypoint was successfully published. Refer the srv files for more info.

Google Maps integration

Create a Google Maps Developer account and generate an API Key with Maps and Places options selected.
Inside the repository type the following:

echo "YOUR_API_KEY" > waypoint_viewer/api_key.txt

Install Google Maps API for python

pip install googlemaps