Way of scaling the simulation in size for GPS plugin
Currently, I am recreating a small part of my neighborhood in gazebo11 at 1:5 scale of the real world (smaller). I am also using the GPS plugin for positioning the simulated world in the real coordinates. The problem I am facing is that because the world is a scaled-down version of the real one, when I move inside the environment, the GPS readings don't match anymore with the real world (let's say I move one street block in the simulated world, the GPS coordinate is no longer where it should be, has moved less because of the scale)
Does anyone know if it is possible to scale also the movements in the GPS plugin by some factor so it matches the world with the coordinates?
Im thinking one way to solve it is to create a custom GPS plugin and add scale factor to it or just change the equatorial radius. https://github.com/tu-darmstadt-ros-p... But I don’t think that’s the best solution.
You could also subscribe GPS, scale and publish scaled coordinates. However I think this will be less efficient.