gnss_poser

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.

autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.

autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange

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autoware_gnss_poser package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_gnss_poser package

Additional Links

No additional links.

Maintainers

Xingang Liu
Yamato Ando
Masahiro Sakamoto
Kento Yabuuchi
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Ryo Watanabe

gnss_poser

Overview

The gnss_poser is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

Design

This node subscribes to NavSatFix to publish the pose of base_link. The data in NavSatFix represents the antenna’s position. Therefore, it performs a coordinate transformation using the tf from base_link to the antenna’s position. The frame_id of the antenna’s position refers to NavSatFix’s header.frame_id. (Note that header.frame_id in NavSatFix indicates the antenna’s frame_id, not the Earth or reference ellipsoid. See also NavSatFix definition.)

If the transformation from base_link to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

Inputs / Outputs

Input

Name	Type	Description
`/map/map_projector_info`	`autoware_map_msgs::msg::MapProjectorInfo`	map projection info
`~/input/fix`	`sensor_msgs::msg::NavSatFix`	gnss status message
`~/input/autoware_orientation`	`autoware_sensing_msgs::msg::GnssInsOrientationStamped`	orientation click here for more details

Output

Name	Type	Description
`~/output/pose`	`geometry_msgs::msg::PoseStamped`	vehicle pose calculated from gnss sensing data
`~/output/gnss_pose_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	vehicle pose with covariance calculated from gnss sensing data
`~/output/gnss_fixed`	`autoware_internal_debug_msgs::msg::BoolStamped`	gnss fix status

Parameters

Parameters in below table

Name	Type	Default	Description
`base_frame`	`string`	`base_link`	frame id for base_frame
`gnss_base_frame`	`string`	`gnss_base_link`	frame id for gnss_base_frame
`map_frame`	`string`	`map`	frame id for map_frame
`use_gnss_ins_orientation`	`boolean`	`true`	use Gnss-Ins orientation
`gnss_pose_pub_method`	`integer`	`0`	0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.
`buff_epoch`	`integer`	`1`	Buffer epoch. Range: 0~inf.

All above parameters can be changed in config file gnss_poser.param.yaml .

CHANGELOG

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
chore: no longer support ROS 2 Galactic (#492)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
chore: bump up version to 1.1.0 (#462) (#464)
test(autoware_gnss_poser): add unit tests (#414)
- test(autoware_gnss_poser): add unit tests
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, Tim Clephas, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

fix(autoware_gnss_poser): depend on geographiclib through its Find module (#313) fix: depend on geographiclib through it's provided Find module
Contributors: Shane Loretz

0.3.0 (2025-03-21)

chore: fix versions in package.xml
feat(autoware_gnss_poser): porting from universe to core (#166)
Contributors: mitsudome-r, 心刚

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_geography_utils
	autoware_internal_debug_msgs
	autoware_map_msgs
	autoware_sensing_msgs
	geographic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
geographiclib

Dependant Packages

No known dependants.

Launch files

launch/gnss_poser.launch.xml
- - param_file [default: $(find-pkg-share autoware_gnss_poser)/config/gnss_poser.param.yaml]
  - input_topic_fix [default: /fix]
  - input_topic_orientation [default: /autoware_orientation]
  - output_topic_gnss_pose [default: gnss_pose]
  - output_topic_gnss_pose_cov [default: gnss_pose_cov]
  - output_topic_gnss_fixed [default: gnss_fixed]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_gnss_poser` at Robotics Stack Exchange