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fix(gnss_poser): added local coordinate system in UTM to gnss_poser #1227

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merged 14 commits into from
Jul 20, 2022
Merged

fix(gnss_poser): added local coordinate system in UTM to gnss_poser #1227

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4f9822d
fix(gnss_poser): UTM local coordinate system is added. #1227
ataparlar Jul 4, 2022
af56663
fix(gnss_poser): UTM local coordinate system is added. UTM default #1227
ataparlar Jul 4, 2022
698c3d2
fix(gnss_poser): Changed the function names to correct ones.
ataparlar Jul 4, 2022
4d8bcea
ci(pre-commit): autofix
pre-commit-ci[bot] Jul 4, 2022
1dc5f8b
removed unnecessary -else- and changed readme for coordinate systems
ataparlar Jul 7, 2022
467c028
ci(pre-commit): autofix
pre-commit-ci[bot] Jul 7, 2022
cf94c1a
update readme
Jul 19, 2022
0322694
ci(pre-commit): autofix
pre-commit-ci[bot] Jul 19, 2022
be31b37
fix(gnss_poser): better conversation function for local_cartesian_utm
ataparlar Jul 19, 2022
fe88429
fix(gnss_poser): Update readme
ataparlar Jul 20, 2022
4657137
ci(pre-commit): autofix
pre-commit-ci[bot] Jul 20, 2022
0f14059
fix id
Jul 20, 2022
f1b1e83
move variables closer to the scope they were used
Jul 20, 2022
064f1e7
ci(pre-commit): autofix
pre-commit-ci[bot] Jul 20, 2022
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ci(pre-commit): autofix
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@pre-commit-ci @ataparlar
pre-commit-ci[bot] authored and ataparlar committed Jul 20, 2022
commit 467c02877c0cceea43da7159ec36029036a435f4
2 changes: 1 addition & 1 deletion sensing/gnss_poser/README.md
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Expand Up @@ -28,7 +28,7 @@ The `gnss_poser` is a node that subscribes gnss sensing messages and calculates
### 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 |
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14 changes: 7 additions & 7 deletions sensing/gnss_poser/include/gnss_poser/convert.hpp
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Expand Up @@ -113,15 +113,15 @@ GNSSStat NavSatFix2LocalCartesianUTM(
double global_y;
try {
if (utm_origin_needs_init) {
GeographicLib::UTMUPS::Forward(
nav_sat_fix_origin_.latitude, nav_sat_fix_origin_.longitude, utm_origin.zone,
utm_origin.northup, utm_origin.x, utm_origin.y);
utm_origin.z = EllipsoidHeight2OrthometricHeight(nav_sat_fix_msg, logger);
utm_origin_needs_init = false;
GeographicLib::UTMUPS::Forward(
nav_sat_fix_origin_.latitude, nav_sat_fix_origin_.longitude, utm_origin.zone,
utm_origin.northup, utm_origin.x, utm_origin.y);
utm_origin.z = EllipsoidHeight2OrthometricHeight(nav_sat_fix_msg, logger);
utm_origin_needs_init = false;
}
GeographicLib::UTMUPS::Forward(
nav_sat_fix_msg.latitude, nav_sat_fix_msg.longitude, utm_origin.zone, utm_origin.northup,
global_x, global_y);
nav_sat_fix_msg.latitude, nav_sat_fix_msg.longitude, utm_origin.zone, utm_origin.northup,
global_x, global_y);
utm_local.latitude = nav_sat_fix_msg.latitude;
utm_local.longitude = nav_sat_fix_msg.longitude;
utm_local.altitude = nav_sat_fix_msg.altitude;
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