From 7acf58d9bf6dc9d5725de75f21b4d538f91b97f1 Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Fri, 19 Jan 2024 10:58:50 +0900 Subject: [PATCH] update README Signed-off-by: Kento Yabuuchi --- sensing/gnss_poser/README.md | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/sensing/gnss_poser/README.md b/sensing/gnss_poser/README.md index 1ec7dc1f516ad..e47de2b3e5b35 100644 --- a/sensing/gnss_poser/README.md +++ b/sensing/gnss_poser/README.md @@ -4,8 +4,15 @@ The `gnss_poser` is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance. +This node subscribes to NavSatFix to publish the pose of **base_link**. The data in NavSatFix represents the antenna's position. Therefore, it performs a coordinate transformation using the tf from `base_link` to the antenna's position. The frame_id of the antenna's position refers to NavSatFix's `header.frame_id`. +(**Note that `header.frame_id` in NavSatFix indicates the antenna's frame_id, not the Earth or reference ellipsoid.** [See also NavSatFix definition.](https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/NavSatFix.html)) + +If the transformation from `base_link` to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation. + ## Inner-workings / Algorithms + + ## Inputs / Outputs ### Input