ldw200012/usv_gps_gui

GPS Based USV Map Plotting GUI

USV_GPS_GUI: GPS Based USV Map Plotting GUI

This repository is set for the testing at KAIST Duck Pond, Daejeon, South-Korea.
Customization instruction for the other regions is soon to be added.

1. HOW TO RUN

1. While GPS Data is being published by the data with topic name /ublox/fix (sensor_msgs::NavSatFix), run below command in Shell #1

$ roslaunch heron_lla2utm coordinate_convertion.launch

2. Run one of the below commands for different results in Shell #2
   

  (Help): To see available arguments

$ rosrun heron_gui main_gui.py -h

  (Read): Read and plot the waypoints from ./heron_gui/src/csv_files/<_filename>.csv

$ rosrun heron_gui main_gui.py -m wp_read # <_filename> is set to 'square' as default, follow instruction below to customize

  (Export): Use GUI to select waypoints and export into ./heron_gui/src/csv_files/<new_filename>.csv

$ rosrun heron_gui main_gui.py -m wp_plot # <new_filename> is set to 'export_data' as default, follow instruction below to customize

2. CUSTOMIZE

case 1: Change GPS-streaming ROSTopic name

case 2: Change map file

case 3: Change *.csv file

case 4: Change GUI plot color