GPS antenna not in the center
Hi.
To put it simply, I want robot_localization's / odometry / gps to start at (x, y, z) = (0, 0.3, 0) instead of (0, 0, 0).
I'm trying to get the robot to estimate its position.
It worked generally well, but there is only one problem.
The robot I'm using cannot be structurally fitted with a GPS antenna in the center of the robot, the antenna is fitted 30 cm to the right.
In robot_localization, the read latitude and longitude are set to (x, y) = (0,0), so the positional relationship with other sensors is broken, and self-position estimation is performed with this error included.
I have already created a node that calculates the orientation of the robot and outputs new /odometry shifted from the antenna position to the center of the robot.
Does anyone know how to solve this?
