Fix/set utm map frame change #1
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| @@ -210,6 +210,10 @@ class NavSatTransform | |||
| //! | |||
| bool use_local_cartesian_; | |||
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| //! @brief Whether we want to have our UTM zone fixed, and not change it if we move outside of it | |||
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This sounds like an option. But I don't see where we can set the option :)
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Actually I wouldn't implement it as optional unless requested by a reviewer for backward compatibility. This will always lead to issues right?
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Whether we want to have our UTM zone fixed
Is there any valid reason not to want it fixed?
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Hmm maybe I should rephrase the comment.
Default behavior of navsat_transform is:
- Wait for valid gps
- Determine utm zone from gps coordinates (lat/lon)
- Determine map transform based on utm zone AND lat/lon
- Use this zone forever
Proposed behavior for setUTMZone:
- Let user force set a UTM zone
- Determine map transform based on user utm zone
- Use this zone forever
So yes, the zone is indeed always fixed. The flag is just used in the setTransformGps() call such that the user UTM zone is taken and the correct utm_meridian_convergence_degrees is calculated from that.
Otherwise the call to setTransformGps() uses lat/lon as input and might conclude a different UTM zone and different utm_meridian_convergence_degrees.
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Ah, then yes, please rephrase the comment. This sounds like we can choose not to fix stuff.
| @@ -210,6 +210,10 @@ class NavSatTransform | |||
| //! | |||
| bool use_local_cartesian_; | |||
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| //! @brief Whether we want to have our UTM zone fixed, and not change it if we move outside of it | |||
| //! | |||
| bool force_user_utm_; | |||
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user? It's typically robots 🙂
But it sounds like you don't force much. reset_utm_?
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It's similar to when a user calls the /datum service, from that point on a custom datum is enforced.
Now, when /setUTMzone is called, from that point on a utm datum is enforced.
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Good to go! |
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Closing this one as I created one to the forked repo: cra-ros-pkg#830 |
Proposal for fixing the issue where a user-utm zone does not reset the transform of the map-frame and thus gives issues.
Also added a test for this. Please review and when approved we can move this PR to the forked repo instead and apply similar diffs to the ROS2 branch.