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fix(gnss_poser): UTM coordinate publish in local coordinate system with gnss_poser #1225

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fix(gnss_poser): UTM coordinate publish in local coordinate system with gnss_poser #1225

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b51dad8
added NavSatFix2UTMLocal function to gnss_poser
ataparlar Jun 29, 2022
6f8e70f
works
ataparlar Jul 3, 2022
8c13c76
Merge branch 'autowarefoundation:main' into main
ataparlar Jul 4, 2022
4489425
Merge branch 'main' of https://github.com/ataparlar/autoware.universe…
ataparlar Jul 4, 2022
f58b307
x y is correct, z is not local
ataparlar Jul 4, 2022
3f58d40
utm_local is ready to pr
ataparlar Jul 4, 2022
738a0f7
ci(pre-commit): autofix
pre-commit-ci[bot] Jul 4, 2022
82ccbc3
fix(gnss_poser): made a better naming for params. package works with …
ataparlar Jul 4, 2022
23559b8
ci(pre-commit): autofix
pre-commit-ci[bot] Jul 4, 2022
b2c27fa
fix(gnss_poser): Merge remote-tracking branch 'origin/local_utm_gnss'…
ataparlar Jul 4, 2022
3adfcd6
Merge remote-tracking branch 'origin/local_utm_gnss' into local_utm_gnss
ataparlar Jul 4, 2022
b982619
utm_local is ready to pr
ataparlar Jul 4, 2022
c7113c2
ci(pre-commit): autofix
pre-commit-ci[bot] Jul 4, 2022
71080b3
fix(gnss_poser): made a better naming for params. package works with …
ataparlar Jul 4, 2022
9c75487
ci(pre-commit): autofix
pre-commit-ci[bot] Jul 4, 2022
b5da3ef
Merge remote-tracking branch 'origin/local_utm_gnss' into local_utm_gnss
ataparlar Jul 4, 2022
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utm_local is ready to pr
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@ataparlar
ataparlar committed Jul 4, 2022
commit 3f58d4081ff3caaba9d84d2b41bf8b95d28f3333
2 changes: 1 addition & 1 deletion sensing/gnss_poser/include/gnss_poser/convert.hpp
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Expand Up @@ -126,7 +126,7 @@ GNSSStat NavSatFix2UTMLocal(
utm_local.altitude = nav_sat_fix_msg.altitude;
utm_local.x = global_x - utm_origin.x;
utm_local.y = global_y - utm_origin.y;
utm_local.z = EllipsoidHeight2OrthometricHeight(nav_sat_fix_msg, logger);
utm_local.z = EllipsoidHeight2OrthometricHeight(nav_sat_fix_msg, logger) - utm_origin.z;
}
}
catch (const GeographicLib::GeographicErr & err) {
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