March 2017
Intermediate to advanced
452 pages
8h 17m
English
Content preview from ROS Robotics Projects
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Simulating GPS in Gazebo
In this section, we will see how to simulate a GPS sensor in Gazebo. As you know, GPS is one of the essential sensors in a self-driving car. You can start a GPS simulation using the following command:
$ roslaunch sensor_sim_gazebo gps.launch
Now, you can list out the topic and find the GPS topics published from the Gazebo plugin. Here is a list of topics from the GPS plugin:
Figure 20: List of topics from the Gazebo GPS plugin
You can echo the /gps/fix topic to confirm that the plugin is publishing the values correctly.
You can use the following command to echo this topic:
$ rostopic echo /gps/fix
Figure 21: Values published ...
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