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carla-simulator / ros-bridge

ROS bridge for CARLA Simulator
MIT License
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Carla Ros Bridge Manual Control HUD cardinal direction mismatch GNSS #676

Open matejm42 opened 1 year ago

matejm42 commented 1 year ago

I use Carla manual control to see all positional data on one screen when controlling the ego vehicle through ROS.

But I was really confused by the coordinate systems. I thought heading 0 is x direction and North GNSS direction (increasing latitude).

Actually, moving in the x direction is heading 0, but East (increasing longitude) and HUD is saying North.

issue0 issue1

After turning right -> moving in -y direction is heading -90, South (decreasing latitude), and HUD is saying West (which is 100% problem, when after going North and turning right, I should be heading East) issue2

Summary image here carla_coordinates

Good to point out that ROS-bridge transforms the left-handed coordinate system of CARLA into the right-handed coordinate system of ROS, so the y direction mismatch Python-API. _carla_common/src/carlacommon/transforms.py

matejm42 commented 1 year ago

I accidentally closed this issue when I merged it in my fork, but I thing it should remain open here until it's fixed.