ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

How is world to map coordinate determined?

asked 2019-09-12 20:48:09 -0500

villie gravatar image

In autoware world-map is defined in a launch file.

I was curious as to how these coordinates are determined in first place? for instance in demo bag and associated data they are defined as

14771 84757 -39 0 0 0 for static transform.

I am guessing these are UTM coordinates with 0 0 0 for roll pitch and yaw.

In utilities I do see a node defined in map_tf_generator.cpp which finds (negative)average of the map points. Is this used to fill values in launch file?

And isn't the map generated in base_link frame? or is it generated in some other frame?

Any explanation or pointing of documentation in this regard would be helpful.

Thank you

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2019-09-16 10:57:25 -0500

Josh Whitley gravatar image

When you generate a map, each frame of the map is created using the origin of the /base_link frame but the combined PCD map (from ndt_mapping) is broadcast using the /map frame since it is a fixed frame and /base_link is not. The /world frame is assumed to be in MGRS (Japanese Rectangular Plane) coordinates and the origin of the /map frame (in the PCD map) is some offset from the origin of the MGRS plane. That offset is the static /world -> /map transform.

edit flag offensive delete link more



Do you know how can I find out the values to use in the /world -> /map static transform once the pcd is generated?

pedroexe gravatar image pedroexe  ( 2020-04-09 04:20:59 -0500 )edit

Hi Josh, I have same question as above. May I know how can I measure the values from world to map? Like 14771 84757 -39 0 0 0 in demo data and 0.0001 0 0 0 0 0 in BorregasAve.

ttezy gravatar image ttezy  ( 2023-07-14 15:31:06 -0500 )edit

Question Tools



Asked: 2019-09-12 20:48:09 -0500

Seen: 834 times

Last updated: Sep 16 '19