OSM annotation x,y values not reflected correctly on RViz

asked 2022-03-12 07:51:12 -0600

sujithvemi gravatar image

updated 2022-03-12 07:56:33 -0600

I have an OSM map that is generated from the Unity map builder for SVL, as Unity uses UTM co-ordinates the x,y annotation values in the local frame are in relative UTM co-ordinates but as the localization system I am using in Autoware is in ENU space (I have implemented a GNSS+IMU localization for my map), I had updated the OSM map annotations through calculations for ENU space co-ordinates. But I see that these co-ordinates are not reflected correcly on RViz even after I have changed all the necessary .yaml files correctly, it still shows the relative UTM co-ordinates when I give a pose estimate. I don't understand what I am missing here as I feel I have made all the changes correctly, cleared any cache that might impact this and cleaned everything. Please refer to the screenshots below of JOSM to see the annotation differences in both maps for the same point.

Not able to attach the images here for some reason (maybe insufficient karma), please finds the screenshots at following links, sorry for the inconvenience. https://photos.app.goo.gl/32TQZPFgbiP... https://photos.app.goo.gl/p6C6kJgiqtr...

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