Day 7

Log

1. Use geodesy package for GSM84 --> UTM coordinate transformation
   • sudo apt install ros-kinetic-geodesy see http://wiki.ros.org/geodesy
   • UTM Coordinate frame more or less squares of 180km
2. Modified bambi gazebo world and model path. Now they are placed under "bambi_ws"/gazebo. REMEMBER to add the following in .bashrc:
   • export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:~%BAMBI-GIT-ROOT%/gazebo
   • export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~%BAMBI-GIT-ROOT%/gazebo/models
3. Successfully implemented WP navigation to orthophoto target position

Coordinate Reference System

In UTM (Northing, Easting, Down) reference system is positive toward north pole (toward map top) and toward east (toward the map right)

Wave Front

Visualized on Google Maps it becomes: