Fix Gnss noise calculation in simulation #279
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Oh! Clearly, the original line can't be right:
noise_point = geo_pose.point.polar(noise_lat, direction)But do we really need to use .polar()? Can't we simply say
geo_pose = GeoPose.from_pose(self.wheels.pose)
noise_pose = GeoPose(lat=np.random.normal(geo_pose.lat, self._lat_std_dev),
lon=np.random.normal(geo_pose.lon, self._lon_std_dev),
heading=np.random.normal(geo_pose.heading, math.radians(self._heading_std_dev)))By the way: First I thought converting self._heading_std_dev to radians is wrong. But according to the documentation it is in degrees, so the conversion is necessary. It is just a bit unconventional because we usually keep angles in radians. Anyway, it's probably not worth a breaking change.
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@falkoschindler I think we kept them in meters and degrees, because the Septentrio SimpleRTK3b returns them like that. |
1. latitude and longitude (parts of a point) 2. magnitude and direction (arguments for polar) 3. point and heading (parts of a pose) 4. pose
falkoschindler
approved these changes
Apr 23, 2025
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While setting up a test for a new gnss antenna configuration, I noticed that the location noise of the gnss simulation is wrong.
When using
_lat_std_dev=1and_lon_std_dev=0, I got this result which makes sense, because we have two cases:After the fix, I recorded both
_lat_std_devand_lon_std_devalternating between 0 and 1, which led to an expected cross:Setting both to 1 also shows the expected pattern:
