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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

API Docs
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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

Description
Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-04-25
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
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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