geopose_ros_tools

This repo contains the package/nodes for ROS2 to generate sample GeoPose messages and visualise them. Once installed and built, everything can be run by calling the included launch file.

Installation Instructions

• Clone this the OGC_Geopose_msgs repo into your ROS2 workspace. e.g.

cd ros2_ws/src
git clone https://github.com/jraclarke/ogc_geopose_msgs.git
git clone https://github.com/jraclarke/geopose_ros_tools.git

• Run the following:

cd geopose_ros_tools/resource/ ; ./download_pointcloud.sh
cd ../../.. ; colcon build; source ~/.bashrc
ros2 launch geopose_ros_tools launch.py

What is GeoPose?

When a real or digital object's pose is defined relative to a geographical frame of reference, it will be called a geographically-anchored pose, or ''GeoPose'' for short. All physical world objects have a geographically-anchored pose. Digital objects may be assigned/attributed a GeoPose.

GeoPose as a Standard

OGC GeoPose Standard defines the encodings for the real world position and orientation of a real or a digital object in a machine-readable form. Using GeoPose enables the easy integration of digital elements on and in relation to the surface of the planet.

Run the Demo

1. Make sure you have cloned the ogc_geopose_msgs repo to your ROS/ROS2 workspace:
   git clone https://github.com/jraclarke/ogc_geopose_msgs.git
2. Clone this repo to the same workspace:
   git clone https://github.com/jraclarke/geopose_ros_tools.git
3. Build within your workspace:
   colcon build
4. Launch the demo:
   ros2 launch geopose_ros_tools launch.py