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simulation/gz_bridge: local_position_groundtruth include heading (#21224)

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Daniel Agar
2023-03-01 12:44:31 -05:00
committed by GitHub
parent e129534a58
commit bde194fb12
1 changed files with 2 additions and 0 deletions
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src/modules/simulation/gz_bridge/GZBridge.cpp
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@@ -555,6 +555,8 @@ void GZBridge::poseInfoCallback(const gz::msgs::Pose_V &pose)
local_position_groundtruth.y = position(1);
local_position_groundtruth.z = position(2);
local_position_groundtruth.heading = euler.psi();
local_position_groundtruth.ref_lat = _pos_ref.getProjectionReferenceLat(); // Reference point latitude in degrees
local_position_groundtruth.ref_lon = _pos_ref.getProjectionReferenceLon(); // Reference point longitude in degrees
local_position_groundtruth.ref_alt = _param_sim_home_alt.get();