turn off GNSS #5062
turn off GNSS
#5062
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I use autoware and want to deploy it to my car, but I only have radar. I want to turn off GNSS but can’t find the switch. Can anyone help me? |
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Answered by
SakodaShintaro
Aug 5, 2024
Replies: 1 comment 2 replies
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For localization, there is an argument "gnss_enabled" in pose_twist_estimator.launch.xml |
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Thank you for the detailed information.
When autoware is running, use the following command to check the topics that
pose_initializer
is subscribed to.~/autoware$ ros2 node info /localization/util/pose_initializer /localization/util/pose_initializer Subscribers: /clock: rosgraph_msgs/msg/Clock /parameter_events: rcl_interfaces/msg/ParameterEvent /sensing/gnss/pose_with_covariance: geometry_msgs/msg/PoseWithCovarianceStamped /sensing/vehicle_velocity_converter/twist_with_covariance: geometry_msgs/msg/TwistWithCovarianceStamped
I think that it is good to check the
/sensing/vehicle_velocity_converter/twist_with_covariance: geometry_msgs/msg/Tw…