gnss_distortion_corrector#
Purpose#
To correct the gnss pose by reducing x-y plane distortion between PCD map coordinate system and GNSS coordinate system.
This node corrects input gnss pose by using relationships between poses in GNSS coordinate system and poses in PCD coordinate system prepared from the past field survey results.
That relationships are prepared as csv file that be able to generated from ROSBAG including RTKFixedGNSSpose and reference pose(ex. estimated from ndt scan matching and so on.)
A tool will be provided separately to generate corrections.csv from rosbag.
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
input_pose_with_covariance_topic |
geometry_msgs::msg::PoseWithCovarianceStamped |
gnss pose in map frame. |
Output#
| Name | Type | Description |
|---|---|---|
output_pose_with_covariance_topic |
geometry_msgs::msg::PoseWithCovarianceStamped |
undistorted gnss pose in map frame. |
Parameters#
param.yaml#
| Name | Type | Description | Default |
|---|---|---|---|
map_frame_id |
string | map_frame_id | map |
base_link_frame_id |
string | base_link_frame_id | base_link |
antenna_frame_id |
string | antenna_frame_id | gnss_link |
max_nearest_neighbor_number |
int | max_nearest_neighbor_number (KDTree radius search parameter) | 10 |
trees_of_kdtree_index_parameter |
int | trees_of_kdtree_index_parameter (KDTree radius search parameter) | 4 |
radius |
float | radius [m] (KDTree radius search parameter) | 20.0 |
checks_of_radius_search_parameter |
int | checks_of_radius_search_parameter (KDTree radius search parameter) | 128 |
launch.xml args#
| Name | Type | Description | Default |
|---|---|---|---|
param_file_path |
string | Param.yaml file path. | $(find-pkg-share gnss_distortion_corrector)/config/gnss_distortion_corrector.param.yaml |
corrections_csv_path |
string | corrections.csv file path. | $(find-pkg-share gnss_distortion_corrector)/config/corrections_template.csv |
input_pose_with_covariance_topic |
string | input_pose_with_covariance_topic | /sensing/gnss/gnss_antenna_pose_with_covariance |
undistorted_antenna_pose_with_covariance_topic |
string | undistorted_antenna_pose_with_covariance_topic | /localization/util/gnss_distortion_corrector/antenna_pose_with_covariance |
output_pose_with_covariance_topic |
string | output_pose_with_covariance_topic | /localization/util/gnss_distortion_corrector/pose_with_covariance |