Forum #3 - Topic #12 - Message List

There has been a shift away from the "local" coordinate system in JAUS. Instead of defining waypoints relative to some arbitrary point, you must define them in global (latitude and longitude) coordinates. If it makes more sense to you to use a local coordinate system, you may be able to get by using the pointUtm data structure (found in libcimar) for your local coordinates, and use the pointLlaToPointUtm() and pointUtmToPointLla() conversion functions. The resulting global waypoints may not line up with where the robot is on the planet, but it should work for you. Of course, you can always implement those messages that you need! Starting from their global counterparts, it would be a pretty easy task.

-Brian

Brian pretty much summed it up with his thoughts. I would add that I think the local-style components will be returning in some form or fashion in the next version of the RA. Therefore implementing those messages would be important in the long run. If you choose to use the pointUtm method it should work, just be aware that you will need to seed the UTM conversion engine using the utmConversionInit() function. This will select the proper UTM Zone for the pointLLA given. If you are using it just for dummy's sake, a lat/lon of 0 should work fine.

You may also want to look at the local or global path segment driver if you are wanting to drive a "path." Waypoint drivers drive point to point, while path segment drivers attempt follow a given curve between points. Not sure which is your intent.