Current Behavior
With carla 0.9.16, the CoordinateTransformer.gnss_to_xyz function now produces an offset of roughly 0.3m and 2.0m in x and y.
This function is used to convert gps gnss coordinates into usable xyz coordinates.
Due to the offset it is currently not possible to drive based on the GPS and the car uses ground truth coordinates obtained directly from carla instead.
Note that the offset seems to change with the car's position -> it cannot be statically subtracted.
Expected Behavior
The CoordinateTransformer.gnss_to_xyz function does not produce an offset compared to carla map.transform_to_geolocation
Steps to Reproduce
To drive with GPS, set the position_use_ground_truth parameter to false in code/localization/launch/localization.xml. Also comment in the gps_debug_node at the end of the file.
Then check out the gps debug node to compare different transformations and checks.
Especially look at the "Carla gnss"<->"Check gnss" and "Carla gt pos"<->"Calculated gt pos". These paris should match if the gnss_to_xyz function is working correctly.
Definition of Done
The car is able to navigate based on the GPS (without using the carla api)
Testability
No response
Dependencies
No response
Current Behavior
With carla 0.9.16, the CoordinateTransformer.gnss_to_xyz function now produces an offset of roughly 0.3m and 2.0m in x and y.
This function is used to convert gps gnss coordinates into usable xyz coordinates.
Due to the offset it is currently not possible to drive based on the GPS and the car uses ground truth coordinates obtained directly from carla instead.
Note that the offset seems to change with the car's position -> it cannot be statically subtracted.
Expected Behavior
The CoordinateTransformer.gnss_to_xyz function does not produce an offset compared to carla map.transform_to_geolocation
Steps to Reproduce
To drive with GPS, set the position_use_ground_truth parameter to false in
code/localization/launch/localization.xml. Also comment in the gps_debug_node at the end of the file.Then check out the gps debug node to compare different transformations and checks.
Especially look at the "Carla gnss"<->"Check gnss" and "Carla gt pos"<->"Calculated gt pos". These paris should match if the gnss_to_xyz function is working correctly.
Definition of Done
The car is able to navigate based on the GPS (without using the carla api)
Testability
No response
Dependencies
No response