The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.
This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna's position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna's position. The frame_id of the antenna's position refers to NavSatFix's header.frame_id.
(Note that header.frame_id in NavSatFix indicates the antenna's frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)
If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.
| Name | Type | Description |
|---|---|---|
/map/map_projector_info |
tier4_map_msgs::msg::MapProjectorInfo |
map projection info |
~/input/fix |
sensor_msgs::msg::NavSatFix |
gnss status message |
~/input/autoware_orientation |
autoware_sensing_msgs::msg::GnssInsOrientationStamped |
orientation click here for more details |
| Name | Type | Description |
|---|---|---|
~/output/pose |
geometry_msgs::msg::PoseStamped |
vehicle pose calculated from gnss sensing data |
~/output/gnss_pose_cov |
geometry_msgs::msg::PoseWithCovarianceStamped |
vehicle pose with covariance calculated from gnss sensing data |
~/output/gnss_fixed |
tier4_debug_msgs::msg::BoolStamped |
gnss fix status |
{{ json_to_markdown("sensing/gnss_poser/schema/gnss_poser.schema.json") }}