{"action":"created","issue":{"url":"https://api.github.com/repos/cra-ros-pkg/robot_localization/issues/386","repository_url":"https://api.github.com/repos/cra-ros-pkg/robot_localization","labels_url":"https://api.github.com/repos/cra-ros-pkg/robot_localization/issues/386/labels{/name}","comments_url":"https://api.github.com/repos/cra-ros-pkg/robot_localization/issues/386/comments","events_url":"https://api.github.com/repos/cra-ros-pkg/robot_localization/issues/386/events","html_url":"https://github.com/cra-ros-pkg/robot_localization/pull/386","id":274108960,"number":386,"title":"Zero out rotation in GPS to base_link transform","user":{"login":"Roboterbastler","id":10380243,"avatar_url":"https://avatars3.githubusercontent.com/u/10380243?v=4","gravatar_id":"","url":"https://api.github.com/users/Roboterbastler","html_url":"https://github.com/Roboterbastler","followers_url":"https://api.github.com/users/Roboterbastler/followers","following_url":"https://api.github.com/users/Roboterbastler/following{/other_user}","gists_url":"https://api.github.com/users/Roboterbastler/gists{/gist_id}","starred_url":"https://api.github.com/users/Roboterbastler/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Roboterbastler/subscriptions","organizations_url":"https://api.github.com/users/Roboterbastler/orgs","repos_url":"https://api.github.com/users/Roboterbastler/repos","events_url":"https://api.github.com/users/Roboterbastler/events{/privacy}","received_events_url":"https://api.github.com/users/Roboterbastler/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2017-11-15T10:38:30Z","updated_at":"2017-11-15T10:46:20Z","closed_at":null,"author_association":"NONE","pull_request":{"url":"https://api.github.com/repos/cra-ros-pkg/robot_localization/pulls/386","html_url":"https://github.com/cra-ros-pkg/robot_localization/pull/386","diff_url":"https://github.com/cra-ros-pkg/robot_localization/pull/386.diff","patch_url":"https://github.com/cra-ros-pkg/robot_localization/pull/386.patch"},"body":"I had issues when using a GPS sensor frame that is rotated w.r.t. base_link. Because rotation is not relevant to GPS positions I think the transformation from base_link to the sensor frame should be set to identity. Can anyone confirm this?"},"comment":{"url":"https://api.github.com/repos/cra-ros-pkg/robot_localization/issues/comments/344555304","html_url":"https://github.com/cra-ros-pkg/robot_localization/pull/386#issuecomment-344555304","issue_url":"https://api.github.com/repos/cra-ros-pkg/robot_localization/issues/386","id":344555304,"user":{"login":"ayrton04","id":5042191,"avatar_url":"https://avatars0.githubusercontent.com/u/5042191?v=4","gravatar_id":"","url":"https://api.github.com/users/ayrton04","html_url":"https://github.com/ayrton04","followers_url":"https://api.github.com/users/ayrton04/followers","following_url":"https://api.github.com/users/ayrton04/following{/other_user}","gists_url":"https://api.github.com/users/ayrton04/gists{/gist_id}","starred_url":"https://api.github.com/users/ayrton04/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ayrton04/subscriptions","organizations_url":"https://api.github.com/users/ayrton04/orgs","repos_url":"https://api.github.com/users/ayrton04/repos","events_url":"https://api.github.com/users/ayrton04/events{/privacy}","received_events_url":"https://api.github.com/users/ayrton04/received_events","type":"User","site_admin":false},"created_at":"2017-11-15T10:46:20Z","updated_at":"2017-11-15T10:46:20Z","author_association":"CONTRIBUTOR","body":"I'll have to make sure I'm not missing anything, but yeah, the orientation of the GPS sensor is irrelevant. I've always been simply not specifying a rotational offset for the GPS, but I suppose that could be a problem with URDF models when the GPS is mounted, e.g., sideways."}}
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