gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

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.

Inputs / Outputs

Input

Name	Type	Description
/map/map_projector_info	autoware_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	autoware_internal_debug_msgs::msg::BoolStamped	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
base_frame	string	base_link	frame id for base_frame
gnss_base_frame	string	gnss_base_link	frame id for gnss_base_frame
map_frame	string	map	frame id for map_frame
use_gnss_ins_orientation	boolean	true	use Gnss-Ins orientation
gnss_pose_pub_method	integer	0	0: Instant Value 1: Average Value 2: Median Value. If buffer_epoch is set to 0, gnss_pose_pub_method loses affect. Range: 0~2.
buff_epoch	integer	1	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .