ROUTE DETAILS
IO1. Outdoor and Indoor route. Several loops on a route east the Innova Building. Few moving people. Then the robot goes inside the Innova Building and then back outside. When moving outside, the GPS (in mode RTK) produces several hops with a big error. This is characterized as a hop in the signal that is not associated to an increment in the covariance.

Shouts fully grown (15cm). Robot commanded manually.

Sensors: ODO
	 LIDAR (points=yes, reflectivity image=YES)
	 GPS/RTK. Nice estimation. Some hops.
	 IMU
	 
Sunny. No clouds.

Distance travelled: 487.80 m

Sensor frequencies:
Sensor frequencies Hz:
	LiDAR:  1.72
	Odometry:  9.99
	GPS:  1.0
	IMU: 20

GPS mode: full GPS/RTK mode with base station. BIG HOP in GPS/RTK. 

GPS transform: The transformation from the center of the robot is [[1, 0, 0, 0.365], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]. The GPS is mounted at the front of the Husky.

MAP
The solution is referenced to the base lat/lng in gps0/reference.yaml. The map is assumed to be correct at 100% and produces a usable result. 


COMMENTS
The Harxon GPS is placed at the center of the Husky, below the Ouster LiDAR. 
This placement of the GPS produces a bad reception of the GPS signal. Thus, hops appear in the estimation, even if the robot is moving in an open space.