mobile_to_maritime

mobile_to_maritime is a convenience package used to transform messages defined according the the coordinate frame conventions documented in REP-105 to the maritime conventions documented in REP-156 and back again.

Supported message types

mobile_to_maritime can currently transform the following message types:

• geometry_msgs/msg/Pose
• geometry_msgs/msg/PoseStamped
• geometry_msgs/msg/Twist
• geometry_msgs/msg/TwistStamped
• geometry_msgs/msg/Wrench
• geometry_msgs/msg/WrenchStamped
• nav_msgs/msg/Odometry

If there is a standard message that you would like to be added, please consider raising a new issue or submitting a pull request.

Installation

To install mobile_to_maritime, first clone this project to the src directory of your ROS workspace:

git clone git@github.com:Robotic-Decision-Making-Lab/mobile_to_maritime.git

After cloning the project, install the ROS dependencies using rosdep:

rosdep update && \
rosdep install -y --from-paths src --ignore-src

Quick Start

To learn more about how to use the nodes and launch files provided in this project, please refer to the project demo.

License

mobile_to_maritime is released under the MIT license.