gnss_poser#
Purpose#
The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.
This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna's position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna's position. The frame_id of the antenna's position refers to NavSatFix's header.frame_id.
(Note that header.frame_id in NavSatFix indicates the antenna's frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)
If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.
Inner-workings / Algorithms#
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
/map/map_projector_info |
tier4_map_msgs::msg::MapProjectorInfo |
map projection info |
~/input/fix |
sensor_msgs::msg::NavSatFix |
gnss status message |
~/input/autoware_orientation |
autoware_sensing_msgs::msg::GnssInsOrientationStamped |
orientation click here for more details |
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 | Description | Default | Range |
|---|---|---|---|---|
| base_frame | string | frame id for base_frame | base_link | N/A |
| gnss_base_frame | string | frame id for gnss_base_frame | gnss_base_link | N/A |
| map_frame | string | frame id for map_frame | map | N/A |
| use_gnss_ins_orientation | boolean | use Gnss-Ins orientation | true | N/A |
| gnss_pose_pub_method | integer | 0: Instant Value 1: Average Value 2: Median Value. If 0 is chosen buffer_epoch parameter loses affect. | 0 | ≥0 ≤2 |
| buff_epoch | integer | Buffer epoch | 1 | ≥0 |