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

Output

Parameters

Parameters in below table

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

Changelog for package autoware_gnss_poser

1.1.0 (2025-05-01)

1.8.0 (2026-05-01)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>

• fix(autoware_gnss_poser): fix flaky test timeout on CI (#1018) Replace background spin() threads with main-thread spin_some() to make the test deterministic. The previous approach used two executors with two background threads per test, creating race conditions in cancel/join during TearDown that caused intermittent 60s timeouts on CI.

  • Use single executor with spin_some() instead of background spin()

  - Extract rebuildGnssPoserNode() to properly reset subscriptions before destroying the old node, preventing dangling references

  • Replace std::atomic<bool> with plain bool (single-threaded now)
  • Replace sleep_for waits with executor->spin_some() to process work

• fix(autoware_gnss_poser): fix test timeout on Humble (#1015) fix(autoware_gnss_poser): fix test timeout on Humble by using single rclcpp init/shutdown The test_autoware_gnss_poser binary was timing out on the humble-above CI job because each test fixture performed its own rclcpp::init()/shutdown() cycle (9 total). On Humble, repeated init/shutdown cycles cause resource leaks that eventually hang the executor. Move rclcpp::init() and rclcpp::shutdown() to main() so there is a single lifecycle for the entire test binary. Also reset publisher_executor_ in TearDown to avoid dangling references.

• fix(autoware_gnss_poser): fix bugprone-implicit-widening-of-multiplication-result warnings (#912) fix(autoware_gnss_poser): fix bugprone-implicit-widening-of-multiplication-result warnings

• chore(sensing): move header files from include/ to src/ (#852)

  * refactor(sensing): move header files from include/ to src/ for crop_box_filter and gnss_poser These headers are internal implementation details not used by external packages. Moving them to src/ clarifies they are private headers.

  • style(pre-commit): autofix
  • fix(crop_box_filter): fix for linter

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>

• Contributors: Mete Fatih Cırıt, NorahXiong, Takahisa Ishikawa, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• chore: tf2_ros to hpp headers (#616)
• Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

• Merge remote-tracking branch 'origin/main' into humble

• feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)

  • replace ament_auto_package to autoware_ament_auto_package

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• chore: update maintainer (#637)

  * chore: update maintainer remove Takeshi Ishita

  * chore: update maintainer remove Kento Yabuuchi

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