search

septentrio-gnss / septentrio_gnss_driver

ROS 1 & 2 driver for Septentrio GNSS & INS receivers
BSD 3-Clause "New" or "Revised" License
82 stars 39 forks source link

Heading offset #79

Closed tiesus closed 1 year ago

tiesus commented 1 year ago

Hello,

I have a question regarding the antenna_offset:heading parameter: If i use this parameter with ros_axis_orientation is the offset applied to the values complying with the ros_axis_orientation(enu) or to the default NED frame?

thomasemter commented 1 year ago

Hello,

I assume you mean att_offset:heading. This is defined in body coordinates, which is front-left-up for ros_axis_orientation and front-right-down otherwise.

tiesus commented 1 year ago

Exactly, i meant att_offset:heading. Thanks for your answer and the clarification:)