Generate KML file from ROS Odometry data. Enable visualization of traversed path in GoogleEarth.

Author: Silvio Maeta - smaeta@andrew.cmu.edu

Install required packages: $ apt-get update $ apt-get install python-pip $ pip install utm $ easy-install pykml

Take a look in the kml_util/launch/generate_kml.launch to configure:

• output_filename: output path and filename for the PDF report containing the plots
• pose_topic: Odometry message topic name - position information needs to be in UTM coordinate format.
• utm_zone_number: UTM zone number is required because UTM coordinates are converted to LatLong in order to be saved in the KML file.

OBS: Odometry position expected in NED coordinate frame (North=X / East=Y / Down=Z)