Purpose
Increasing the topic publish rate of gnss poses for using NDT scan matcher regularization.
This node extrapolate gnss pose by with Twist.
| Name |
Type |
Description |
input_pose_with_covariance_topic |
geometry_msgs::msg::PoseWithCovarianceStamped |
gnss pose in map frame. |
input_twist_topic |
geometry_msgs::msg::TwistStamped |
twist. |
Output
| Name |
Type |
Description |
output_pose_with_covariance_topic |
geometry_msgs::msg::PoseWithCovarianceStamped |
extrapolated 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 |
gnss_pose_ttl |
float |
Time to live of GNSS pose subscribed as the initial pose of dead reckoning. [sec] |
1.0 |
launch.xml args
| Name |
Type |
Description |
Default |
param_file_path |
string |
Param.yaml file path. |
$(find-pkg-share gnss_pose_extrapolator)/config/gnss_pose_extrapolator.param.yaml |
input_pose_with_covariance_topic |
string |
input_pose_with_covariance_topic |
/localization/util/gnss_area_filter/pose_with_covariance |
input_twist_topic |
string |
input_twist_topic |
/localization/twist_estimator/twist |
output_pose_with_covariance_topic |
string |
output_pose_with_covariance_topic |
/localization/util/gnss_pose_extrapolator/pose_with_covariance |