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Change codebase to use ENU instead of NED #231
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Lidar testing... used settings.json
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@davidoort Thanks you so much for testing! I ran some more system identification tests to validate the correctness of imu, gps and gss. I manually drove the car in a certain pattern and plotted all the things. On this branch |
Cool! It seems like gps longitude is flipped right? that would certainly explain the issue I'm having |
This reverts commit 465e9e5.
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Adjusting the initial heading of the car in our Kalman filter from North to East and flipping the z signs and pitch angle signs in our settings.json worked!
In this pr I refactored the codebase to use the ENU coordinate frames as used in the autonomous industry. See the ROS REP 103 and the Automated Driving Toolbox. This replaces the NED coordinate system introduced by using AirSim.
From now on we are using the following coordinate system This introduces the following breaking change:
I've tested all the things I could think of that use coordinate's and rotations. This is what I have tested:
Can you help with testing?
It would be great if you could checkout this code, run it and see if your autonomous system still works.
There should be no changes in the data coming out from the ros wrapper before and after this pr.