GNSS Sensor

GNSS senor is a component which simulates the position of vehicle computed by the Global Navigation Satellite System. The GNSS sensor outputs the position in the MGRS coordinate system.

Prefabs

The component prefab can be found under the following path: Assets\AWSIM\Prefabs\Sensors\GnssSensor.prefab

Scripts

All the most important scripts can be found under the `Assets\AWSIM\Prefabs\Sensors\Gnss\* path.

The table below describes features contained in each provided script:

script	feature
GnssSensor.cs	Core GNSS sensor. Publishes pose and poseWithCovarianceStamped in MGRS coordinate system. Requires MgrsReference of the Environment for the output data conversion.
GnssRos2Publisher.cs	Converts the data output from GnssSensor to ROS2 message and publishes it.

Output Data

The following table describes GnssSensor.OutputData properties:

field	type	feature
MgrsPosition	Vector3	Position in the MGRS coordinate system.

Published Topics

The data output is published to the following topics:

topic	msg	frame_id	hz	QoS
/sensing/gnss/pose	geometry_msgs/Pose	gnss_link	1	Reliable, Volatile, Keep last/1
/sensing/gnss/pose_with_covariance	geometry_msgs/PoseWithCovarianceStamped	gnss_link	1	Reliable, Volatile, Keep last/1