search

ZATiTech / open_planner

Integrated open source planner and related tools for autonomous navigation of autonomous vehicle and mobile robots
Apache License 2.0
27 stars 6 forks source link

The frame_id of /sensing/gnss/pose_with_covariance is gnss_link #20

Open Try110 opened 4 months ago

Try110 commented 4 months ago

There seems to be a problem with the gnss data sent by the op_fix2pose module. The frame_id is gnss_link, but the coordinates sent should be based on map.

Try110 commented 4 months ago

Another problem is that the heading angle sent by this topic is always constant, and the quaternion is (0,0,0,1). Can we consider combining the heading angles in/sensing/imu/tamagawa/imu_raw?