Yaw offset between Gazebo world and Mavros GPS

ROS / MAVROS / MicroDDS
1

Hi,
I have spawned a drone (based on Multi-robot Systems (MRS) group at Czech Technical University in Prague · GitHub), using ROS noetic on ubuntu 20.

The gazebo world is a digital copy of a real world agriculture farm and the GPS coordinates mimic that of a real world. However, the mavros gps results showcase a 90 degree offset between the gazebo gps coordinate value and the mavros gps values.

Can you please tell me if there is a way I can overcome this offset from the mavros side. Sorry if the solution seems trivial, I am new to mavros.

Thanks in advance

2

How are you simulating the “real” gps coordniates? It is likely your map is in different coordinate frame compared to gazebo.

Therefore you shouldnt fix it on the mavros side

1 Like
3

Thank you for the prompt reply and apologies for my delayed response.

The snippet for the spherical coordinates in the gazebo.world file can be found here

<spherical_coordinates>
  <surface_model>EARTH_WGS84</surface_model>
  <latitude_deg>38.540986425145505</latitude_deg>
  <longitude_deg>-7.9617174218275</longitude_deg>
  <!-- <yaw>1.5708</yaw> -->
  <!-- <world_frame_orientation>NWU</world_frame_orientation> -->
  <elevation>0</elevation>
  <heading_deg>90</heading_deg>
</spherical_coordinates>

I have tried to add the yaw, world frame orientation and heading_deg here…but to no effect on the mavros gps result.

Can you please suggest a possible alternative solution( that is not from mavros side).