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Set initial latitude / longitude #26
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Wow, that SimInitStruct is humongous... |
Well yeah, it basically holds all the stuff we currently have in the add files.. |
We could either have a full protobuf message with all those fields or just have a small one that we build up as needed. |
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We're currently filling the lat/lon coordinates here:
https:/osrf/lrauv/blob/39a08bbcf9acb3e6131c8c38b6d762f0532401ee/lrauv_ignition_plugins/src/TethysCommPlugin.cc#L448-L453
By default, that's considering the world origin to be at 0° / 0°.
We should be setting the correct initial lat/lon at startup so that subsequent queries get the position with respect to that. Here's an upstream issue for setting it from SDF: gazebosim/gz-sim#981
Here, instead of hardcoding it into the SDF, we may be able to subscribe to this message from LRAUV to get the initial values:
https://bitbucket.org/mbari/lrauv-application/src/master/Source/simulatorModule/SimInitStruct.h
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