ROUTE DETAILS
O4. Outdoor. Two loops on a route east the Innova Building. Few moving people. 
Shouts starting to grow (1cm). Robot commanded manually.

Sensors: ODO
	 LIDAR (points=yes, reflectivity image=no)
	 GPS/RTK. Noisy estimation. Several hops.
	 IMU
	 
Sunny. No clouds.

Distance travelled: 350 m

Sensor frequencies:
Sensor frequencies Hz:
	LiDAR:  0.9
	Odometry:  9.99
	GPS:  1.0
	IMU: 20

GPS mode: full GPS/RTK mode with base station. Some hops in GPS/RTK. Some noise in GPS.

GPS transform: The transformation from the center of the robot is I. The GPS is mounted below the LiDAR.

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 underneath the LiDAR. 
This placement of the GPS produces some hops in the estimation of the position. The covariance is low, but, however, the GPS positions are sometimes bumpy. The position of the GPS has been changed from dates starting at 1 May 2024.