ROS node to write kml file from Piksi messages.
Keyhole Markup Language (KML) is an XML notation for expressing geographic annotation and visualization within Internet-based, two-dimensional maps and three-dimensional Earth browsers. KML was developed for use with Google Earth.
You can either generate onlie a KML file or post-process RTK data that you recorded in a rosbag to generate a KML file, that can be later opened in Google Earth.
The following launch file can be used to generate offline a KML file using a rosbag containing /piksi/navsatfix_rtk_fix topic. Settings of this file has been tuned for a ground vehicle, i.e. the path has been forced to stick to the ground. Once the rosbag is finished, just kill the launched file. A KML file will be generated in the folder kml and that can be imported in Google Earth.
roslaunch piksi_rtk_kml offline_ground_vehicle.launch
The following image has been taken from Google Earth, where a KML file has been generated using the above launch file.
