GPS

The GPS coordinates are based on the GPS anchor set for the current map. The location and orientation are relative to the ego vehicle's origin.

Configuration

{
  "type": "GPS",
  "listen_port": 8100,
  "location": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
  },
  "rotation": {
      "pitch": 0.0,
      "roll": 0.0,
      "yaw": 0.0
  },
  "anchor_overrides": {
      "gis_anchor": {
          "x": 0.0,
          "y": 0.0,
          "z": 0.0
      },
      "rotation": -90.0,
      "use_override": false,
      "world_anchor": {
          "x": -97.7431,
          "y": 30.2672,
          "z": 0.0
      }
  },
  "description": ""
}

• anchor_overrides:
  • use_override: if set to true use these override values, if false the gis_anchor actor placed in the map will be used, if there is no gis_anchor actor and this is set to false then the Center of Austin Texas will be used at your maps coordinate center.
  • gis_anchor: (longitude, latitude, height) positioned at the world anchor
  • rotation: the north direction for heading rotated counter clockwise with respect to the X vector of the map
  • world_anchor: the position in the simulation map where the gis_anchor originates

Adding a GPSAnchor to a map

1. On the search box of the Place Actors window, look for GPSAnchor.
2. Drag and drop to the map at the desired location.
3. On the Details windows, modify the x for longitude and y for latitude, as desired.

Output

The total sensor output is 92 bytes, where the first 16 bytes correspond to the monoDrive sensor header and the remaining 76 conform the GPS information. Below is a table of each element in the message: