Merge branch 'master' into new_gps_broadcaster

Author: abhinavGirish

Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/GPS.msg

@@ -1,7 +1,9 @@
 Header header
 
-float32 Lat_m
-float32 Long_m
+# easting is our x coordinate
+float32 easting
+# northing is our y coordinate
+float32 northing
 
 float32 Lat_deg
 float32 Long_deg

Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp

@@ -55,6 +55,8 @@ int GPS_Broadcaster::read_gps_message()
             }
 
             robobuggy::GPS* gps_message = parse_tokens(tokens);
+
+
             if (gps_message != NULL)
             {
                 gps_pub.publish(*gps_message);
@@ -123,8 +125,8 @@ robobuggy::GPS* GPS_Broadcaster::parse_tokens(std::string tokens[])
 
     gps_message.Lat_deg = static_cast<float>(latitude_deg);
     gps_message.Long_deg = static_cast<float>(longitude_deg);
-    gps_message.Lat_m = static_cast<float>(utm_point.easting);
-    gps_message.Long_m = static_cast<float>(utm_point.northing);
+    gps_message.northing = static_cast<float>(utm_point.northing);
+    gps_message.easting = static_cast<float>(utm_point.easting);
 
     return &gps_message;
 }

Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp

@@ -35,8 +35,8 @@ void Localizer::Encoder_Callback(const robobuggy::Encoder::ConstPtr &msg)
 void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg)
 {
     geodesy::UTMPoint p;
-    p.northing = msg->Lat_m;
-    p.easting = msg->Long_m;
+    p.northing = msg->northing;
+    p.easting = msg->easting;
     p.band = 'T';
     p.zone = 17;