Using a more generic msg type for gnss_poser package

[meliketanrikulu]

In the autoware universe, ublox_msgs::msg::NavPVT msg type is used in the gnss_poser package. However, as far as I can see in this package, only heading(deg / 1e-5) information is used. For people who do not use this sensor, this message needs to be generated to be able to use this package. However, information other than heading in the message is not used. Why don't we use a more general package or create a simpler message package or can you think of a better way?
I wanted to ask your opinion before I open an issue about it. Thanks for sharing your ideas.

[kenji-miyake]

@meliketanrikulu I believe there are no special reasons and simply because it's a prototype.

Since we're reconsidering the message interfaces now, I feel it's good to discuss it in the meeting. (I think the announcement will be published soon.)
#99

[YamatoAndo]

@meliketanrikulu You are right, this dependence is not good.
The reason I was using this message was because I was using ublox's gnss receiver, there is no special reason.

Let's improve this package so that everyone can use it.

[meliketanrikulu]

@YamatoAndo @kenji-miyake Thanks for your reply. Do you have any suggestions on what the msg type should be?

[kenji-miyake]

I remember previously we've discussed it a bit. I guess no concrete msg type is defined yet.
https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/1421#note_761341971

[xmfcx]

https://docs.ros.org/en/api/sensor_msgs/html/msg/NavSatFix.html
https://docs.ros.org/en/api/sensor_msgs/html/msg/Imu.html

[mitsudome-r]

We have discussed further in the Architecture WG meeting.
#364

From the discussion, we have decided to come up with a custome message that includes both pose + velocity(INS) output as a single message. If any one has any experience in using a particular GNSS message, please share in this thread.

[YamatoAndo]

@mitsudome-r
like this?

std_msgs/msg/Header header
geometry_msgs/msg/PoseWithCovariance pose
geometry_msgs/msg/TwistWithCovariance twist

[mitsudome-r]

The one that Fatih shared as an example was something like this: https://github.com/clearpathrobotics/applanix_driver/blob/hydro-devel/applanix_msgs/msg/NavigationSolution.msg

I think question lies whether we would like to keep position information as lat/lon or as x,y,z in some ROS defined frame as the output from Sensing module.

[mitsudome-r]

@xmfcx Do you have any comments?

[xmfcx]

@mitsudome-r @meliketanrikulu I've created autowarefoundation/autoware_msgs#24

Please check the messages I've added and add your comments. Thanks!