(this is a cross post from answers.gazebosim.com)
I'm looking to build a simulation where I can *accurately* bookkeep my robots position in geodetic coordinates (WGS84 datum).
Unfortunately the ROS+Gazebo+Hector GPS plugin route isn't likely to work, exactly because I'm trying to simulate vehicles at high latitude (near the poles), and traveling large distances *O*(10 km), so the equirectangular projection used by the Hector GPS plugin can't be expected to yield accurate results.
Is it possible to run ROS+Gazebo to run a simulation natively in spherical coordinates? I haven't been able to find any resources to date on this.
If not, have any others found themselves in a similar situation? Outside of writing a dynamical model in MATLAB or similar, have others found an acceptable solution?
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