gnss_poser fails to get antenna position from base_link in sample data.

[KYabuuchi]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

When I run the rosbag-replay-simulation in tutorial, gnss_poser outputs the following warning.

[gnss_poser-32] [WARN 1705543736.053584803] [sensing.gnss.gnss_poser]: "gnss" passed to lookupTransform argument source_frame does not exist.
[gnss_poser-32] [WARN 1705543736.053649454] [sensing.gnss.gnss_poser]: Please publish TF base_link to gnss

Expected behavior

The gnss_poser successfully gets the antenna position from base_link. And it does not output warnings.

Actual behavior

[gnss_poser-32] [WARN 1705543736.053584803] [sensing.gnss.gnss_poser]: "gnss" passed to lookupTransform argument source_frame does not exist.
[gnss_poser-32] [WARN 1705543736.053649454] [sensing.gnss.gnss_poser]: Please publish TF base_link to gnss

Steps to reproduce

Just run the rosbag-replay-simulation in tutorial.

Versions

No response

Possible causes

The warning is printed from

autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp

Lines 347 to 369 in 1f9cdfe

	try {
	*transform_stamped_ptr = tf2_buffer_.lookupTransform(
	target_frame, source_frame,
	tf2::TimePoint(std::chrono::seconds(stamp.sec) + std::chrono::nanoseconds(stamp.nanosec)));
	} catch (tf2::TransformException & ex) {
	RCLCPP_WARN_STREAM_THROTTLE(
	this->get_logger(), *this->get_clock(), std::chrono::milliseconds(1000).count(), ex.what());
	RCLCPP_WARN_STREAM_THROTTLE(
	this->get_logger(), *this->get_clock(), std::chrono::milliseconds(1000).count(),
	"Please publish TF " << target_frame.c_str() << " to " << source_frame.c_str());
	transform_stamped_ptr->header.stamp = stamp;
	transform_stamped_ptr->header.frame_id = target_frame;
	transform_stamped_ptr->child_frame_id = source_frame;
	transform_stamped_ptr->transform.translation.x = 0.0;
	transform_stamped_ptr->transform.translation.y = 0.0;
	transform_stamped_ptr->transform.translation.z = 0.0;
	transform_stamped_ptr->transform.rotation.x = 0.0;
	transform_stamped_ptr->transform.rotation.y = 0.0;
	transform_stamped_ptr->transform.rotation.z = 0.0;
	transform_stamped_ptr->transform.rotation.w = 1.0;
	return false;
	}

There are two main reasons.:

1. The default values of gnss_link in the gnss_poser config of the autoware.universe is gnss. LINK
   On the other hand, the default values of gnss_link in the sample_sensor_kit and awsim_sensor_kit are set to gnss_link.

2. While some sensor_kit_launch files pass gnss_link as an argument, the gnss_poser launch file does not receive it. As a result, the gnss_link specified in the param.yaml of gnss_poser is loaded by the node. LINK1 LINK2

Consequently, the gnss_poser cannot get the coordinate transformation between base_link and gnss_link (antenna position), treating it as an identity transformation (interpreting that the antenna is located at the position of base_link).

However, this is not a critical issue as it is only used as the starting point for the initial position estimation of NDT.

Additional context

@KYabuuchi is going to fix this.

[KYabuuchi]

The simplest solution is to change the default gnss_frame from gnss to gnss_link. Because in most sensor_kits the antenna position is named as gnss_link.