autoware：gnss_localizer nmea2tfpose 节点相关

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本系列文章由@邻居张师傅 出品，转载请注明出处。

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邮箱：zhangyh.nb@qq.com

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overview

gnss_localizer将NMEA消息从GNSS接收器转换到（x，y，z，侧倾，俯仰，偏航）位置。

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NMEA消息

GPS 的一种消息格式

.bag包中包含NMEA消息，消息类型为nmea_msgs/Sentence：

nmea_msgs/Sentence 
std_msgs/Header header
string sentence # NMEA0183格式的ASCII字符串

查看 nmea_sentence 话题发布的 nmea_msgs/Sentence 消息：

$ rostopic echo /nmea_sentence

---
header: 
  seq: 160226
  stamp: 
    secs: 1427157854
    nsecs: 546808958
  frame_id: "/gps"
sentence: "$GNRMC,004359.40,A,3514.1250755,N,13700.0880895,E,15.8924,222.208,240315,7.321,E,D*2F"
---
header: 
  seq: 160227
  stamp: 
    secs: 1427157854
    nsecs: 563855886
  frame_id: "/gps"
sentence: "$GPGGA,004359.40,3514.1250755,N,13700.0880895,E,5,10,0.96,42.3297,M,38.4418,M,1.4,0556*4C"
---
header: 
  seq: 160228
  stamp: 
    secs: 1427157854
    nsecs: 573806047
  frame_id: "/gps"
sentence: "$GNVTG,222.208,T,229.529,M,15.8924,N,29.4326,K,D*3C"
---
header: 
  seq: 160229
  stamp: 
    secs: 1427157854
    nsecs: 583868980
  frame_id: "/gps"
sentence: "QQ02C,INSATT,V,004359.40,8.091,10.146,233.312,@F1"
---
header: 
  seq: 160230
  stamp: 
    secs: 1427157854
    nsecs: 596791982
  frame_id: "/gps"
sentence: "WW03C,INSDAT,004359.40,1.555,-2.312,-9.001,0.671,0.114,-1.266,@37"
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nmea2tfpose 节点

接受nmead话题的消息，转换后发送给tf库PoseStamped消息，实现 map 坐标系 到 gps 坐标系的转换
该节点发布的消息如下：

header: 
  seq: 181
  stamp: 
    secs: 1427157662
    nsecs: 371006965
  frame_id: "map"
pose: 
  position: 
    x: -7606963.92947
    y: 35556078.0335
    z: 47.7636
  orientation: 
    x: 0.000958006771906
    y: -0.113925190181
    z: -0.430242612233
    w: 0.895495074182
---

.lanunch文件：

	  <node pkg="gnss_localizer" type="nmea2tfpose" name="nmea2tfpose" output="log">
	    <param name="plane" value="$(arg plane)"/>

调用：

$ roslaunch gnss_localizer nmea2tfpose.launch plane:=7

roslaunch gnss_localizer nmea2tfpose.launch plane:=7

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关键源码

初始化：

回调函数