Fix user UTM conversion and catch GeographicErr to not crash navsat_transfrom node #917
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The service setUTM was introduced in ROS1 at first:
#627
And later also ported to ROS2:
#856
However, a small error was left here where the
gpsFixCallback()does a forward conversion without specifying the utm-zone. So GeographicLib does the conversion based on lat/lon only.In case the lat/lon in the gpsfix message are in a neighbouring zone, utm-coordinates for that other zone are calculated and when
mapToLL()converts back with the savedutm_zone_, also incorrect lat/lon values are produced.You can spot the difference here, where in the original introduction
utm_zone_was used:https://github.com/cra-ros-pkg/robot_localization/pull/627/files#diff-e2f5adb2665b53274a429c05d5f267ae428aee0cb9e5fdb058f46cb3993a9617R636
But in the ROS2 port it dropped out:
https://github.com/cra-ros-pkg/robot_localization/pull/856/files#diff-e2f5adb2665b53274a429c05d5f267ae428aee0cb9e5fdb058f46cb3993a9617R668
Moreover, callers to
mapToLL()are now also protected from crashing the node in case of an exception.