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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ieiauto/autodrrt.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-09-19 |
| 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 geo_pose_projector package
Additional Links
No additional links.
Maintainers
- Yamato Ando
- Koji Minoda
Authors
- Koji Minoda
geo_pose_projector
Overview
This node is a simple node that subscribes to the geo-referenced pose topic and publishes the pose in the map frame.
Subscribed Topics
| Name | Type | Description |
|---|---|---|
input_geo_pose |
geographic_msgs::msg::GeoPoseWithCovarianceStamped |
geo-referenced pose |
/map/map_projector_info |
tier4_map_msgs::msg::MapProjectedObjectInfo |
map projector info |
Published Topics
| Name | Type | Description |
|---|---|---|
output_pose |
geometry_msgs::msg::PoseWithCovarianceStamped |
pose in map frame |
/tf |
tf2_msgs::msg::TFMessage |
tf from parent link to the child link |
Parameters
{{ json_to_markdown(“localization/geo_pose_projector/schema/geo_pose_projector.schema.json”) }}
Limitations
The covariance conversion may be incorrect depending on the projection type you are using. The covariance of input topic is expressed in (Latitude, Longitude, Altitude) as a diagonal matrix. Currently, we assume that the x axis is the east direction and the y axis is the north direction. Thus, the conversion may be incorrect when this assumption breaks, especially when the covariance of latitude and longitude is different.
CHANGELOG
No CHANGELOG found.
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.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| tier4_localization_launch |
Launch files
- launch/geo_pose_projector.launch.xml
-
- input_geo_pose [default: /geo_pose_with_covariance]
- output_pose [default: /pose_with_covariance]
- param_path [default: $(find-pkg-share geo_pose_projector)/config/geo_pose_projector.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged geo_pose_projector at Robotics Stack Exchange
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