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forrestv avatar forrestv commented on September 28, 2024

Looking at the code, the (first) problem I see is that PoseEditor2.latlon calls self.rel_position(enu_vector) at the end, but rel_position expects a body-frame vector, not a world (ENU)-frame vector.

@mattlangford, can you confirm?

Also, @mattlangford, can you explain what's preventing us from catching errors like this in simulation?

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mattlangford avatar mattlangford commented on September 28, 2024

I agree, it appeared to be driving between two waypoints, but that could have been a quark where the frames had lined up - should be an easy fix.
The reason it's not right now is just that no one has worked on it. I think it's important, so I will spend some time in the near future setting up a more complete navigation stack in sim.

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