gnss_area_filter
Purpose
To reduce the effects of multi-path errors that occur on static objects such as buildings, trees and so on.
This node filters out gnss pose outside polygons that described in Lanelet2.
| Name |
Type |
Description |
input_lanelet2_map_bin_topic |
autoware_lanelet2_msgs::msg::MapBin |
lanelet2 map bin |
input_pose_with_covariance_topic |
geometry_msgs::msg::PoseWithCovarianceStamped |
gnss pose |
Output
| Name |
Type |
Description |
output_pose_with_covariance_topic |
geometry_msgs::msg::PoseWithCovarianceStamped |
available gnss pose |
Parameters
param.yaml
| Name |
Type |
Description |
Default |
polygon_tag_name |
string |
Lanelet2 polygon tag name of gnss available area. |
gnss_available_area |
launch.xml args
| Name |
Type |
Description |
Default |
param_file_path |
string |
Param.yaml file path. |
$(find-pkg-share gnss_area_filter)/config/gnss_area_filter.param.yaml |
input_lanelet2_map_bin_topic |
string |
input_lanelet2_map_bin_topic |
/map/vector_map |
input_pose_with_covariance_topic |
string |
input_pose_with_covariance_topic |
/localization/util/gnss_distortion_corrector/pose_with_covariance |
output_pose_with_covariance_topic |
string |
output_pose_with_covariance_topic |
/localization/util/gnss_area_filter/pose_with_covariance |