From d88e4be402c9292d70ab3cf4e5f92378ee38812e Mon Sep 17 00:00:00 2001
From: "Takagi, Isamu" <isamu.takagi@tier4.jp>
Date: Thu, 8 Feb 2024 15:02:49 +0900
Subject: [PATCH] fix(gnss_poser): no conversion when projection type is local

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
---
 sensing/gnss_poser/src/gnss_poser_core.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/sensing/gnss_poser/src/gnss_poser_core.cpp b/sensing/gnss_poser/src/gnss_poser_core.cpp
index ec58226273441..ca79e312b736f 100644
--- a/sensing/gnss_poser/src/gnss_poser_core.cpp
+++ b/sensing/gnss_poser/src/gnss_poser_core.cpp
@@ -78,6 +78,13 @@ void GNSSPoser::callbackNavSatFix(
     return;
   }
 
+  if (projector_info_.projector_type == MapProjectorInfo::Message::LOCAL) {
+    RCLCPP_ERROR_THROTTLE(
+      this->get_logger(), *this->get_clock(), std::chrono::milliseconds(5000).count(),
+      "map_projector_info is local projector type. Unable to convert GNSS pose.");
+    return;
+  }
+
   // check fixed topic
   const bool is_fixed = isFixed(nav_sat_fix_msg_ptr->status);