Changing the origin value in the gnss_poser package

[meliketanrikulu]

It seems that in the gnss_poser package, the origin value is selected as one of the points separated only by japan coordinates with the plane_zone parameter in the gnss_poser.launch.xml file. Can we specify any other point as origin in this package?

[kenji-miyake]

@YamatoAndo Could you answer this? 🙏

[xmfcx]

Also linked issue: autowarefoundation/autoware.universe#576

[xmfcx]

Package can convert to other coordinate systems too

https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/gnss_poser/launch/gnss_poser.launch.xml#L17 here I see that it is able to convert incoming lat/lon into UTM and MGRS coordinate systems too.

Here is where the conversion is made: https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/gnss_poser/src/gnss_poser_core.cpp#L159-L175

Median filtering should be made optional

It's also doing some median filtering operation based on past 1 second of incoming values: https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/gnss_poser/src/gnss_poser_core.cpp#L76-L99 We should probably make this part optional.

No place to set origin

Apart from this, I don't see a place where the large UTM or MGRS coordinate values would offset from an origin so that they would become more small local coordinates.

Why not use LocalCartesian

For this why not make use of https://geographiclib.sourceforge.io/html/classGeographicLib_1_1LocalCartesian.html to simplify a lot of things? I uses WGS84 earth model and makes it possible to convert any lat-lon-alt to x-y-z local cartesian coordinates.

It takes a geodetic coordinate as origin and allows you to convert any other geodetic coordinate to local cartesian coordinates with the Forward() method.

It makes it global, not worrying about either:

• UTM
• MGRS
• Japan Plane Rectangular CS
• State Plane Coordinate System.

[mitsudome-r]

I agree with Fatih. It makes more sense to use the LocalCartesian Projector.
If Tier IV requires to use MGRS, we can have a parameter to select GeographicLib projector to use for calculation.