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septentrio-gnss / septentrio_gnss_driver

ROS 1 & 2 driver for Septentrio GNSS & INS receivers
BSD 3-Clause "New" or "Revised" License
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Wrong heading angle of Mosaic-H module #71

Open hangcui1201 opened 1 year ago

hangcui1201 commented 1 year ago

Hi, We used the septentrio_gnss_driver with mosaic-H module and read the heading angle of ROS topic /atteuler. We found the heading/attitude angle of /atteuler was (1) not consistent with the heading angle from the web gui. (2) wrong at North, the heading angle of main antenna pointing to the aux antenna was 270. Should it be 0 or 360?

For example, taking the vector of the main antenna pointing to the aux antenna, North: 0 degree East: 90 degree South: 180 degree West: 270 degree

However, the output heading angle of /atteuler was confusing.

unnamed

unnamed (1)

Thanks!

thomasemter commented 1 year ago

Hi,

if you have set use_ros_axis_orientation to true this is expected behavior. Septentrio follows the NED (yaw = 0 is north, positive clockwise) convention, whereas ROS is ENU (yaw = 0 is east, positive counterclockwise) and the driver converts between the two. There is no conversion when setting this parameter to false and the angles should be consistent.

hangcui1201 commented 1 year ago

Thanks a lot! It worked!

thomasemter commented 1 year ago

Great, thank you for your feedback.