ROUTE DETAILS
O5. Outdoor. Two loopw ona 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. Nice estimation. Some hops.
	 IMU
	 
Sunny. No clouds.

Distance travelled: 359 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. Minor hops 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 at the front of the Husky. In front of the LiDAR. 
This placement of the GPS produces the best reception of the GPS signal. Thus, no hops are detected if the robot is moving in an open space.The position of the GPS has been changed from dates starting at 1 April 2024.