Can a yaw offset exist between the utm and map frames when using robot_localization with GPS data?
Hi! I'm using robot_localization to implement a GPS waypoint follower in nav2. For that I make use of the fromLL service to convert GPS coordinates into poses in the map frame.
From what I saw in the code, this sevice takes the GPS coordinates into the utm frame and later transforms them to the map frame assuming there is no rotation between them.
I picked up the work from someone else. He had pointed out that a yaw offset may exist between the utm and map frames which would cause the returned point to be placed on a rotated coordinate system not corresponding with the actual orientation of the latter, thus making the returned Cartesian point invalid.
However is my understanding that those frames have to both follow the ENU convention, meaning that both should have their +x axes pointing to the east
Can this offset exist? If that is the case, can the result of the FromLL service be invalid?
