navsat_transform ignores settings (magnetic_declination and yaw_offset)
Hi! the actual navsat_transform lacks documentation, (http://docs.ros.org/en/noetic/api/rob... is not up-to-date, seems). I stumbled upon a problem that navsat_transform doesn't take some arguments from yaml settings file. Or maybe I do something wrong or misinterpret the output.
yaml is
navsat_transform:
ros__parameters:
use_sim_time: true
frequency: 10.0
delay: 30.0
magnetic_declination_: 0.2008874
yaw_offset_: 1.5707963
zero_altitude_: true
broadcast_cartesian_transform_: true
broadcast_cartesian_transform_as_parent_frame_: true
base_link_frame_id_: "base_link"
world_frame_id_: "map"
use_manual_datum_: true
prepareFilteredGps: true
use_odometry_yaw_: true
wait_for_datum: true
launched as
pkg_share = launch_ros.substitutions.FindPackageShare(package='sam_bot_description').find('sam_bot_description')
navsat_transform_node = launch_ros.actions.Node(
package='robot_localization',
executable='navsat_transform_node',
name='navsat_transform_node',
output='screen',
parameters=[os.path.join(pkg_share, 'config/navsat_transform.yaml'),{'use_sim_time': LaunchConfiguration('use_sim_time')}],
remappings=[('gps/fix', 'demo/gps'),('imu', 'demo/imu')]
)
output:
[navsat_transform_node-5] [INFO] [1687603517.801414211] [navsat_transform_node]: Datum (latitude, longitude, altitude) is (...05, ...22,...24)
[navsat_transform_node-5] [INFO] [1687603517.801490211] [navsat_transform_node]: Datum UTM coordinate is (37U, ...053.81, ...102.65)
[navsat_transform_node-5] [INFO] [1687603517.938109211] [navsat_transform_node]: Corrected for magnetic declination of 0, user-specified offset of 0 and meridian convergence of -0.0255208. Transform heading factor is now -0.025573
*Why is it setting "Corrected for magnetic declination of 0" if I set it in yaml to 0.2008874 , and "user-specified offset of 0" instead of 1.5707963
and it broadcasts no cartesian transforms at all that makes me think that it also ignores " broadcast_cartesian_transform_: true " parameter
And i know that it parses the config file as when I do mistakes, it shows parsing errors.
Is it a way to use "debug" to file parameter (like in ekf_filter_node)* Thanks!