ROUTE DETAILS
O6. Outdoor. Single loop 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. Nice estimation. Some hops.
	 IMU
	 
Sunny. No clouds.

Distance travelled: 176 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.