ROUTE DETAILS
IO2. 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 rover) 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. This measurements can be easily filtered by looking at the GPS covariance.

Shouts fully growing in the trees (15cm). Robot commanded manually.

GPS mode: GPS mode 1 without base station. BIG HOPS in GPS whenever the robot goes inside/outside the building. 

CAMERA transform: the transform between the LIDAR and the camera. The calibrated RGB camera observes ARUCO fiducials and computes a relative transform.

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 front of the Husky, in front of the Ouster LiDAR. 
This placement of the GPS produces a nice reception of the GPS signal. 


ROSBAG INFO:
rosbag info IO2-2025-03-25-16-54-17.bag
path:        IO2-2025-03-25-16-54-17.bag
version:     2.0
duration:    35:51s (2151s)
start:       Mar 25 2025 16:54:17.31 (1742918057.31)
end:         Mar 25 2025 17:30:09.25 (1742920209.25)
size:        51.6 GB
messages:    69487
compression: none [4402/4402 chunks]
types:       geometry_msgs/PoseStamped [d3812c3cbc69362b77dc0b19b345f8f5]
             nav_msgs/Odometry         [cd5e73d190d741a2f92e81eda573aca7]
             sensor_msgs/Imu           [6a62c6daae103f4ff57a132d6f95cec2]
             sensor_msgs/NavSatFix     [2d3a8cd499b9b4a0249fb98fd05cfa48]
             sensor_msgs/PointCloud2   [1158d486dd51d683ce2f1be655c3c181]
topics:      /aruco_observation                  723 msgs    : geometry_msgs/PoseStamped
             /gnss/fix                          2099 msgs    : sensor_msgs/NavSatFix    
             /husky_velocity_controller/odom   21520 msgs    : nav_msgs/Odometry        
             /imu/data                         40744 msgs    : sensor_msgs/Imu          
             /ouster/points_low_rate            4401 msgs    : sensor_msgs/PointCloud2