Wrong yaw between WiseSim and Server

rodrigoqueiroz / geoscenarioserver

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Wrong yaw between WiseSim and Server #99

Closed rodrigoqueiroz closed 2 years ago

rodrigoqueiroz commented 2 years ago

Server shows wrong yaw for WiseSim vehicles (Ego)
WiseSim shows wrong yaw for Server vehicles

rodrigoqueiroz commented 2 years ago

The Client is not submitting the yaw.
The client is applying a -90deg transformation to yaw from Server. We should remove.

The fix adds an estimation based on velocities coming from client, and a separate yaw is stored for WiseSim until a new fix to the client (cpp) is added.