GNSS sensor

GnssSensor is a component which simulates the position of vehicle computed by the Global Navigation Satellite System based on the transformation of the GameObject to which this component is attached. The GnssSensor outputs the position in the MGRS coordinate system and Geo coordinate system.

Prefab

Assets/Awsim/Entity/EgoVehicle/Gnss/GnssSensor.prefab

GnssSensor class

GnssSensor outputs MGRS and GeoCoordinate coordinate positions based on the configured period.

prerequisites

MgrsPosition and GeoCoordinatePosition need to be set up. From these classes, the output is converted to each coordinate system by considering the Unity world coordinate system origin and sensor position.

How to use

Setup MgrsPosition and GeoCoordinatePosition int the scene.
Initialize GnssSensor.

Setting parameters

Type	Parameter	Feature
`int`	`_outputHz`	Period to output.

Output data

It is contained in the GnssSensor.IReadOnlyOutputData type.

Type	Parameter	Feature
`Mgrs`	`Mgrs`	MGRS coordinate system position.
`GeoCoordinate`	`GeoCoordinate`	GeoCoordinate coordinate system position.

Geo reference

GnssSensor outputs the sum of the origin value set for each geo reference and the value obtained by converting the Unity world coordinates to each geo reference. There are two classes of georeferencing.

Geo reference	Feature
`MgrsPosition`	Origin value of the Unity world coordinate system (0, 0, 0) transformed in the MGRS system.
`GeoCoordinatePosition`	Origin value of the Unity world coordinate system (0, 0, 0) transformed in the Geo coordinate system.

Add output callback

GnssSensor can add an Action type callback that takes GnssSensor.IReadOnlyOutputData as an argument.

// sample code from GnssRos2Publisher.cs
_gnssSensor.OnOutput += Publish;

GnssRos2Publisher class

GnssRos2Publisher converts the output of GnssSensor to ROS2 and publishes the topic.

Setting parameters

Type	Parameter	Feature
`string`	`_poseTopic`	`geometry_msgs/Pose` msg topic name.
`string`	`_poseWithCovarianceStampedTopic`	`geometry_msgs/PoseWithCovarianceStamped` msg topic name.
`string`	`_frameID`	Frame ID of ros2.
`QosSettings`	`_qosSettings`	Quality of Service settings of ros2.
`GnssSensor`	`_gnssSensor`	Target `GnssSensor` instance.

Default publish topics

GnssRos2Publisher is configured by default with the following two topics publsiih.

Topic	Message type	`frame_id`	`Hz`	`QoS`
`/sensing/gnss/pose`	`geometry_msgs/Pose`	`gnss_link`	`1`	`Reliable` `Volatile` `Keep last/1`
`/sensing/gnss/pose_with_covariance`	`geometry_msgs/PoseWithCovarianceStamped`	`gnss_link`	`1`	`Reliable` `Volatile` `Keep last/1`