autoware_geo_pose_projector

Overview

This node is a simple node that subscribes to the geo-referenced pose topic and publishes the pose in the map frame.

Subscribed Topics

Name	Type	Description
input_geo_pose	geographic_msgs::msg::GeoPoseWithCovarianceStamped	geo-referenced pose
/map/map_projector_info	tier4_map_msgs::msg::MapProjectedObjectInfo	map projector info

Published Topics

Name	Type	Description
output_pose	geometry_msgs::msg::PoseWithCovarianceStamped	pose in map frame
/tf	tf2_msgs::msg::TFMessage	tf from parent link to the child link

Parameters

Name	Type	Description	Default	Range
publish_tf	boolean	whether to publish tf	True	N/A
parent_frame	string	parent frame for published tf	map	N/A
child_frame	string	child frame for published tf	pose_estimator_base_link	N/A

Limitations

The covariance conversion may be incorrect depending on the projection type you are using. The covariance of input topic is expressed in (Latitude, Longitude, Altitude) as a diagonal matrix. Currently, we assume that the x axis is the east direction and the y axis is the north direction. Thus, the conversion may be incorrect when this assumption breaks, especially when the covariance of latitude and longitude is different.