L2G

Description

Converts Local Position to Global Position (pose). Global position is relative to the map.

Field	Datatype	Description
topic	string	type of telemetry data
vehicle	string	unique vehicle name the data is associated to
utime	string	Time (UTC) of the L2G reading
xyt	[double]	Encoding of POSE channel as X, Y, Theta. This is a vector to map (translate and rotate) pose's position to the global (RTN) position.

Local frame: when a shift starts, the current position of the car is dictated as (0, 0, 0). As we start moving, our position relative to this origin is our position in the local frame Global frame: relates to where we are in reference to the world.

Topic Channel string

Realtime Only

Pass the comma separated topic name as a query parameter

/.vehicle.{vehiclename}.L2G

JSON Output

Order of fields might differ

{
    "topic": "L2G",
    "utime": "1702495028830806",
    "vehicle": "vehiclename",
    "xyt": [
        48.61117626730914,
        57.22707919493422,
        3.108129390340248
    ]
}