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autoware_gnss_poser package from autoware_core repo

autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_localization_util autoware_stop_filter autoware_twist2accel autoware_core_map autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_ground_filter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

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Package Summary

Tags No category tags.
Version 1.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-04-01
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

  • Xingang Liu
  • Yamato Ando
  • Masahiro Sakamoto
  • Kento Yabuuchi
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Shintaro Sakoda
  • Ryu Yamamoto

Authors

  • Ryo Watanabe
sensing/autoware_gnss_poser/README.md

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

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.

Inputs / Outputs

Input

Name Type Description
/map/map_projector_info autoware_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

Output

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 autoware_internal_debug_msgs::msg::BoolStamped gnss fix status

Parameters

Parameters in below table

Name Type Default Description
base_frame string base_link frame id for base_frame
gnss_base_frame string gnss_base_link frame id for gnss_base_frame
map_frame string map frame id for map_frame
use_gnss_ins_orientation boolean true use Gnss-Ins orientation
gnss_pose_pub_method integer 0 0: Instant Value 1: Average Value 2: Median Value. If buffer_epoch is set to 0, gnss_pose_pub_method loses affect. Range: 0~2.
buff_epoch integer 1 Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.0.0 (2025-03-31)

  • fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
  • Contributors: Shane Loretz

0.3.0 (2025-03-21)

  • chore: fix versions in package.xml
  • feat(autoware_gnss_poser): porting from universe to core (#166)
  • Contributors: mitsudome-r, 心刚

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/gnss_poser.launch.xml
      • param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
      • input_topic_fix [default: /fix]
      • input_topic_orientation [default: /autoware_orientation]
      • output_topic_gnss_pose [default: gnss_pose]
      • output_topic_gnss_pose_cov [default: gnss_pose_cov]
      • output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_gnss_poser at Robotics Stack Exchange

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