fix(gnss_poser): fix_transform_direction_problem

[meliketanrikulu]

Description

tf_gnss_antenna2base_link_msg_ptr names implies "gnss_link -> base_link" transform and is used that way, but getStaticTransform(gnss_frame_, base_frame_, ... returns the transform "base_link -> gnss_link". The transform direction is not true.

Here the function to make transforms is called. And this line contains transform from base_link to gnss using lookup transform. But I think the exact source and target frame should be swapped. Source frame should be gnss target frame base_link

Expected Functionality:

map2base_link = map2gnss * gnss2base_link

How does it work now:

map2base_link = map2gnss * base_link2gnss

The expected output is here-->tf_gnss_antenna2base_link_msg_ptr butthe function calculates base_link2gnss_antenna transformations because target frame is gnss. It sould be base_link.

Related links

Related Issue: #3640

Tests performed

Since roll pitch yaw values for gnss in sample sensor kit are 0 0 0, we do not encounter this error in autoware demos.

Also, I do not have a sensor setup with the sensor configuration to test this, but when you look at the function descriptions, you can see that it is mathematically incorrect.

Notes for reviewers

Interface changes

Effects on system behavior

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[YamatoAndo]

@kminoda Could you review this pr?

[kminoda]

@meliketanrikulu Hi, sorry for being late, and thank you for your contribution 🙏
Would you fix some CIs that are failing (e.g. semantic pull requests) and also filling out the description?

[codecov]

Codecov Report

Attention: 1 lines in your changes are missing coverage. Please review.

Comparison is base (e8f7233) 15.61% compared to head (9ee48ea) 15.61%.
Report is 213 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #5033   +/-   ##
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  Coverage   15.61%   15.61%           
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  Files        1589     1589           
  Lines      110032   110032           
  Branches    34103    34103           
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  Hits        17182    17182           
  Misses      73943    73943           
  Partials    18907    18907           

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	15.61% <ø> (+<0.01%)	⬆️	Carriedforward from 4540b7c

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Files	Coverage Δ
sensing/gnss_poser/src/gnss_poser_core.cpp	0.00% <0.00%> (ø)

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[meliketanrikulu]

@meliketanrikulu Hi, sorry for being late, and thank you for your contribution 🙏 Would you fix some CIs that are failing (e.g. semantic pull requests) and also filling out the description?

Hello @kminoda I added detailed description and fix the CI issue which is related me. Could you check again. Thank you

[kminoda]

LGTM. Apologies for the late review 🙏