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Field-Robotics-Lab / glider_hybrid_whoi

(Hybrid-) AUG Simulator
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GPS accuracy #18

Closed woensug-choi closed 3 years ago

woensug-choi commented 3 years ago

The vehicle's position and GPS value do not match exactly.

This is also the case of Dave repo's rexrov tutorial case https://github.com/Field-Robotics-Lab/dave/issues/77#issuecomment-748878031. It seems it's a problem with the GPS sensor since the bathymetry is spawning correctly.

Related article : https://github.com/uuvsimulator/uuv_simulator/issues/165

woensug-choi commented 3 years ago

I was hoping that a new hector_gps sensor at PR https://github.com/Field-Robotics-Lab/glider_hybrid_whoi/pull/28 would solve the accuracy issue. But it did not. More tests will follow on the PR

woensug-choi commented 3 years ago

Problem solved with a modified version of the hector_gps plugin called 'uw_gps_ros_plugin`. The code block for the calculation of lat/lon is replaced with the GDAL library at PR https://github.com/Field-Robotics-Lab/glider_hybrid_whoi/pull/28.