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The projection parameter chooses how fixes become map coordinates: utm (default, as before) or enu, east-north-up at the origin, as Gazebo's spherical_coordinates and most local maps define it. Through UTM, a map defined east-north-up was off by the grid's convergence: 1.9 m at 300 m from the origin at Sonoma Raceway. The first fix placed the robot at the antenna, and later fixes reached the filter with an identity orientation, so it removed the antenna's mounting as if the robot faced east. Now the first fix removes the mounting turned with the IMU's attitude, and every fix carries that attitude. Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
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Closes #166.
projectionparameter:utm(default, as before) orenu, east-north-up at the origin (GeographicLibLocalCartesian), for maps defined that way.base_link_frameto the fix's frame) is turned with the IMU's attitude and removed. Later fixes carry the IMU's attitude, so the filter removes the mounting in the right direction. Without IMU or without that TF, as before.