gnss_poser

Purpose

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

Inner-workings / Algorithms

Inputs / Outputs

Input

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

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	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

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) References/External links

(Optional) Future extensions / Unimplemented parts