Fix GNSS Antenna Shift #242
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falkoschindler
approved these changes
Dec 20, 2024
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pascalzauberzeug
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to zauberzeug/field_friend
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this pull request
Jan 15, 2025
We will add GNSS code to Rosys in zauberzeug/rosys#231 and this PR implements it for this repo. ToDos: - [x] Add Kalman Filter from #198 - [ ] Wait for [Rosys 0.22.0](https://github.com/zauberzeug/rosys/milestones) with zauberzeug/rosys#242 Migration Guide: 1. In your Septentrio GNSS Module change the NMEA/SBF OUT messages from GGA+GNS+HDT to GGA+GST+HRP. 2. With the field friend container shut down, rename the extrinsics frame_id of the camera calibration from _rosys.odometer.prediction_ to _field_friend.robot_locator_ (~/.rosys/field_friend.vision.calibratable_usb_camera_provider.json) --------- Co-authored-by: Falko Schindler <[email protected]>
Johannes-Thiel
pushed a commit
to zauberzeug/field_friend
that referenced
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Jan 16, 2025
We will add GNSS code to Rosys in zauberzeug/rosys#231 and this PR implements it for this repo. ToDos: - [x] Add Kalman Filter from #198 - [ ] Wait for [Rosys 0.22.0](https://github.com/zauberzeug/rosys/milestones) with zauberzeug/rosys#242 Migration Guide: 1. In your Septentrio GNSS Module change the NMEA/SBF OUT messages from GGA+GNS+HDT to GGA+GST+HRP. 2. With the field friend container shut down, rename the extrinsics frame_id of the camera calibration from _rosys.odometer.prediction_ to _field_friend.robot_locator_ (~/.rosys/field_friend.vision.calibratable_usb_camera_provider.json) --------- Co-authored-by: Falko Schindler <[email protected]>
Johannes-Thiel
pushed a commit
to zauberzeug/field_friend
that referenced
this pull request
Jan 16, 2025
We will add GNSS code to Rosys in zauberzeug/rosys#231 and this PR implements it for this repo. ToDos: - [x] Add Kalman Filter from #198 - [ ] Wait for [Rosys 0.22.0](https://github.com/zauberzeug/rosys/milestones) with zauberzeug/rosys#242 Migration Guide: 1. In your Septentrio GNSS Module change the NMEA/SBF OUT messages from GGA+GNS+HDT to GGA+GST+HRP. 2. With the field friend container shut down, rename the extrinsics frame_id of the camera calibration from _rosys.odometer.prediction_ to _field_friend.robot_locator_ (~/.rosys/field_friend.vision.calibratable_usb_camera_provider.json) --------- Co-authored-by: Falko Schindler <[email protected]>
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I noticed a bug when the robot is turning. The angle for the GNSS antenna offset was not calculated correctly