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swri-robotics / marti_common

Common utility functions for MARTI
BSD 3-Clause "New" or "Revised" License
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UTM to Lat-Long function returning incorrect Values #695

Closed dstoianovici closed 11 months ago

dstoianovici commented 1 year ago

When using the UtmToTfTransform::Transform() frunction from the latest release of swri_transform_util on the ros2-devel branch, the resulting frame transforms from UTM to LatLong appear to be broken.

This was tested by adding print statements in utm_transformer.cpp at line 182 to print the input UTM coordinates, and comparing output LatLong coordinates to calculated results. Input UTM coordinates and resulting LatLong coordinates are not equal.

It appears that the transformation performed by UtmUtil::UtmData::ToLatLon() is calculating incorrectly.

In order to fix this in use, the ros2-devel branch was reverted back to commit 5fc6ed0ea39faa70f49cf0c0dc94bdc895d8b94e, before support for ROS2 Humble was added.

danthony06 commented 1 year ago

Can you provide an example of the inputs and expected outputs? We have a few test cases in swri_transform_util, and they're still passing.

danthony06 commented 11 months ago

I don't think I can do much with this without a specific test case. We've been running the ros2-devel branch on quite a few vehicles and haven't seen problems with the UTM to WGS84 conversion, so we can't reproduce the problem.