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refactor(gnss_poser): update README change navpvt to autoware_sensing…
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…_msgs (autowarefoundation#1419)

Signed-off-by: melike tanrikulu <[email protected]>
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meliketanrikulu authored and M. Fatih Cırıt committed Nov 16, 2022
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25 changes: 12 additions & 13 deletions sensing/gnss_poser/README.md
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Expand Up @@ -10,10 +10,10 @@ The `gnss_poser` is a node that subscribes gnss sensing messages and calculates

### Input

| Name | Type | Description |
| ---------------- | ----------------------------- | --------------------------------------------------------------------------------------------------------------- |
| `~/input/fix` | `sensor_msgs::msg::NavSatFix` | gnss status message |
| `~/input/navpvt` | `ublox_msgs::msg::NavPVT` | position, velocity and time solution. [click here for more details](https://github.com/KumarRobotics/ublox.git) |
| Name | Type | Description |
| ------------------------------ | ------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ |
| `~/input/fix` | `sensor_msgs::msg::NavSatFix` | gnss status message |
| `~/input/autoware_orientation` | `autoware_sensing_msgs::msg::GnssInsOrientationStamped` | orientation [click here for more details](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_sensing_msgs) |

### Output

Expand All @@ -27,15 +27,14 @@ The `gnss_poser` is a node that subscribes gnss sensing messages and calculates

### Core Parameters

| Name | Type | Default Value | Description |
| -------------------- | ------ | ---------------- | ------------------------------------------------------------------------------------------------------------------------------------------ |
| `base_frame` | string | "base_link" | frame id |
| `gnss_frame` | string | "gnss" | frame id |
| `gnss_base_frame` | string | "gnss_base_link" | frame id |
| `map_frame` | string | "map" | frame id |
| `coordinate_system` | int | "4" | coordinate system enumeration; 0: UTM, 1: MGRS, 2: Plane, 3: WGS84 Local Coordinate System, 4: UTM Local Coordinate System |
| `use_ublox_receiver` | bool | false | flag to use ublox receiver |
| `plane_zone` | int | 9 | identification number of the plane rectangular coordinate systems. [click here for more details](https://www.gsi.go.jp/LAW/heimencho.html) |
| Name | Type | Default Value | Description |
| ------------------- | ------ | ---------------- | ------------------------------------------------------------------------------------------------------------------------------------------ |
| `base_frame` | string | "base_link" | frame id |
| `gnss_frame` | string | "gnss" | frame id |
| `gnss_base_frame` | string | "gnss_base_link" | frame id |
| `map_frame` | string | "map" | frame id |
| `coordinate_system` | int | "4" | coordinate system enumeration; 0: UTM, 1: MGRS, 2: Plane, 3: WGS84 Local Coordinate System, 4: UTM Local Coordinate System |
| `plane_zone` | int | 9 | identification number of the plane rectangular coordinate systems. [click here for more details](https://www.gsi.go.jp/LAW/heimencho.html) |

## Assumptions / Known limits

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