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How is world to map coordinate determined?

asked 2019-09-12 20:48:09 -0600

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

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answered 2019-09-16 10:57:25 -0600

Maximus5684 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.

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Asked: 2019-09-12 20:48:09 -0600

Seen: 87 times

Last updated: Sep 16