OGCtoLocal

Transform Open Geospatial Consortium (OGC) standardized coordinates in KML file to local coordinates and publish as path_msg on ROS2.

Requirements

• ROS2 Foxy
• libkml
• GeographicLib

Build

cd ${workspace}/src
git clone https://github.com/yvzksgl/OGCtoLocal.git
cd $[workspace}
colcon build
source install/setup.bash

Launch

ros2 launch kml_parser kml_parser.launch.py

Result

Visualization of route in OGC standard coordinate system. Rviz2 output of localized coordinate system with respect to start point as origin.