KumarRobotics
Same frame_id for /fix and /fix_velocity topics
The frame_id of a NavSatFix message is supposed to help transform from the antenna's position to the car's base_link frame, as per the official definition:
"header.frame_id is the frame of reference reported by the satellite receiver, usually the location of the antenna."
The frame_id of the TwistWithCovarianceStamped message published to /fix_velocity should help transform from the ENU frame to base_footprint. That is, it should contain the orientation of the car in ENU.
However, only one frame_id parameter is exposed to the user, which is used in both the /fix and /fix_velocity topics. It is not possible to create a frame that makes physical sense and contains these two transforms.
Sorry for the late reply. This makes sense. I'd be happy to merge a PR that fixes this.
