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Report GNSS fixes at the antenna position - #13
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GNSS fixes used the base_link position and ignored the sensor's mount pose. A real receiver reports the antenna position, so an antenna mounted away from base_link gives a heading-dependent offset. The fix now adds the mount offset, rotated by the vehicle orientation, to the base_link position. The default GNSS mount is 0.5 m above base_link, so default fixes report 0.5 m more altitude. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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okay yeah important lol |
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Problem
buildGnssMeasurementused thebase_linkposition and ignored the GNSS sensor's mountpose. A real receiver reports the antenna position. An antenna mounted away frombase_linktherefore gives an offset that changes with heading.Measured on
mainwith the antenna 1 m ahead ofbase_linkand the car facing north: the fix is at 0 m north, not 1 m.Fix
The fix position is now the
base_linkposition plus the mount offset (sensorConfig.pose.position), rotated into the map frame by the vehicle orientation. It uses the existingrotateVectorByQuaternionhelper.Checked with a local script, outside the repo (expected value in brackets):
Effect on existing runs
The default GNSS mount is
(0, 0, 0.5). Default fixes now report 0.5 m more altitude. On flat ground the horizontal position does not change. On a pitched road, the horizontal fix moves by 0.5 m × sin(pitch).Tests
npm teston a clean copy ofmainwith this and the other open sensor PRs merged: 1968 pass, 6 skipped, 1 fail. The failure isPython decodes retained RGB, depth, and CameraInfo SFLog messages, which also fails onmain.🤖 Generated with Claude Code