kml2path_ros2

Package that converts google's kml files to local coordinates on ROS 2.

KML file visualization on Google Earth.

Package output on rviz (nav_msgs/Path).

Requirement and Build

You need libkml for parse kml. You need GeographicLib for transform lat lon alt to local coordinates.

Clone repository into your workspace.

cd ~/ros2_ws/src
git clone https://github.com/ismetatabay/kml2path_ros2.git

build (ros2 terminal)

cd ~/ros2_ws
colcon build 

Usage

Firstly, source your local workspace

source ~/ros2_ws/install/setup.bash

Launch

ros2 launch kml2path_ros2 kml2path