raw gnss data and eagleye output look mirrored to each other
meliketanrikulu opened this issue · comments
I visualize raw gnss data and eagleye's output (navsatfix msgs ) as local cartesian UTM. For your sample rosbag data output is as we wait . Sample data output is here:
The red one is raw gnss data output and blue one is eagleye output (/eagleye/fix) pose.
But I have interesting problem when i tested with my data. The poses looks mirrored. Here is the results:
My calibration is correct . I am using default parameters .
Does setting reverse_imu_wz to true not solve the problem?
issue
#289
Does setting
reverse_imu_wzto true not solve the problem?issue #289
Yes I tested when reverse_imu_wz is false. It gives same output
Is the coordinate system for the input GNSS velocity enu or ecef?
Eagleye requires gnss speed input in the ecef system in accordance with the following.
https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/localization/
The following functions can be used to convert from enu-based velocities to ecef-based velocities.
https://github.com/MapIV/eagleye/blob/main-ros2/eagleye_core/coordinate/src/enu2xyz_vel.cpp
Yes I tested when reverse_imu_wz is false. It gives same output
I think the trajectories will be different depending on whether reverse_imu_wz is set to true or false. Your comment implies that both trajectories deviate from the output of GNSS data, is that correct?
I would like to be provided with rosbag if the above issues seem to be ok.
Yes I tested when reverse_imu_wz is false. It gives same output
I think the trajectories will be different depending on whether reverse_imu_wz is set to true or false. Your comment implies that both trajectories deviate from the output of GNSS data, is that correct?
I tested both of the reverse_imu_wz settings. I set true and false . It give same output
I would like to be provided with rosbag if the above issues seem to be ok.
Okey Thank you. I will provide a rosbag .
The following functions can be used to convert from enu-based velocities to ecef-based velocities.
Thank you. Our velocities are not in the ECEF coordinates. It might be my problems reason. I will share bag file after I convert my velocities to ECEF and test with that.
Hello @rsasaki0109 . Its solved when we give ECEF velocity. Thank you for your support .