The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.
| Name | Type | Description |
|---|---|---|
~/input/fix |
sensor_msgs::msg::NavSatFix |
gnss status message |
~/input/navpvt |
ublox_msgs::msg::NavPVT |
position, velocity and time solution. click here for more details |
| 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 |
| Name | Type | Default Value | Description |
|---|---|---|---|
base_frame |
string | "base_link" | frame id |
gnss_frame |
string | "gnss" | frame id |
gnss_base_frame |
string | "gnss_base_link" | frame id |
map_frame |
string | "map" | frame id |
coordinate_system |
int | "4" | coordinate system enumeration; 0: UTM, 1: MGRS, 2: Plane, 3: WGS84 Local Coordinate System, 4: UTM Local Coordinate System |
use_ublox_receiver |
bool | false | flag to use ublox receiver |
plane_zone |
int | 9 | identification number of the plane rectangular coordinate systems. click here for more details |