gnss_poser#
Purpose#
The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.
Inner-workings / Algorithms#
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
~/input/fix |
sensor_msgs::msg::NavSatFix |
gnss status message |
~/input/navpvt |
ublox_msgs::msg::NavPVT |
position, velocity and time solution (You can see detail description in reference document [1]) |
Output#
| Name | Type | Description |
|---|---|---|
~/output/pose |
geometry_msgs::msg::PoseStamped |
vehicle pose calculated from gnss sensing data |
~/output/gnss_pose_cov |
geometry_msgs::msg::PoseWithCovarianceStamped |
vehicle pose with covariance calculated from gnss sensing data |
~/output/gnss_fixed |
tier4_debug_msgs::msg::BoolStamped |
gnss fix status |
Parameters#
Core Parameters#
| Name | Type | Default Value | Description |
|---|---|---|---|
base_frame |
string | "base_link" | frame d |
gnss_frame |
string | "gnss" | frame id |
gnss_base_frame |
string | "gnss_base_link" | frame id |
map_frame |
string | "map" | frame id |
use_ublox_receiver |
bool | false | flag to use ublox receiver |
plane_zone |
int | 9 | identification number of the plane rectangular coordinate systems (See, reference document [2]) |
Assumptions / Known limits#
(Optional) Error detection and handling#
(Optional) Performance characterization#
(Optional) References/External links#
[1] https://github.com/KumarRobotics/ublox.git
[2] https://www.gsi.go.jp/LAW/heimencho.html