raw gnss data and eagleye output look mirrored to each other

[meliketanrikulu]

I visualize raw gnss data and eagleye's output (navsatfix msgs ) as local cartesian UTM. For your sample rosbag data output is as we wait . Sample data output is here: The red one is raw gnss data output and blue one is eagleye output (/eagleye/fix) pose.

But I have interesting problem when i tested with my data. The poses looks mirrored. Here is the results:

My calibration is correct . I am using default parameters .

[rsasaki0109]

Does setting reverse_imu_wz to true not solve the problem?

issue https://github.com/MapIV/eagleye/issues/289

[meliketanrikulu]

Does setting reverse_imu_wz to true not solve the problem?

issue #289

Yes I tested when reverse_imu_wz is false. It gives same output

[rsasaki0109]

Is the coordinate system for the input GNSS velocity enu or ecef? Eagleye requires gnss speed input in the ecef system in accordance with the following. https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/localization/

The following functions can be used to convert from enu-based velocities to ecef-based velocities. https://github.com/MapIV/eagleye/blob/main-ros2/eagleye_core/coordinate/src/enu2xyz_vel.cpp

[rsasaki0109]

Yes I tested when reverse_imu_wz is false. It gives same output

I think the trajectories will be different depending on whether reverse_imu_wz is set to true or false. Your comment implies that both trajectories deviate from the output of GNSS data, is that correct?

[rsasaki0109]

I would like to be provided with rosbag if the above issues seem to be ok.

[meliketanrikulu]

Yes I tested when reverse_imu_wz is false. It gives same output

I think the trajectories will be different depending on whether reverse_imu_wz is set to true or false. Your comment implies that both trajectories deviate from the output of GNSS data, is that correct?

I tested both of the reverse_imu_wz settings. I set true and false . It give same output

[meliketanrikulu]

I would like to be provided with rosbag if the above issues seem to be ok. Okey Thank you. I will provide a rosbag .

[meliketanrikulu]

The following functions can be used to convert from enu-based velocities to ecef-based velocities.

Thank you. Our velocities are not in the ECEF coordinates. It might be my problems reason. I will share bag file after I convert my velocities to ECEF and test with that.

[meliketanrikulu]

Hello @rsasaki0109 . Its solved when we give ECEF velocity. Thank you for your support .