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Publish outdoor robots' poses in UTM frames - #118
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Add RobotSession.publish_utm_pose, which sends a pose in a utm-<zone> frame on ros/loc/pose (as the agent does, with the 32-bit float offset split), so InOrbit creates the robot's outdoor map and draws it with its heading, with no spatial transformation or map configured. publish_geo_pose does the same from a GPS position and heading. inorbit_edge.geo holds the WGS84 to UTM projection and MapDatum, to convert poses in a local map frame anchored to a datum.
Raw GPS fixes go on ros/loc/gps/fix as the agent's GPSAgentlet sends them, from their own method: the pose methods never send them.
elvioaruta
approved these changes
Nov 12, 2026
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Add RobotSession.publish_utm_pose, which sends a pose in a utm- frame on ros/loc/pose (as the agent does, with the 32-bit float offset split), so InOrbit creates the robot's outdoor map and draws it with its heading, with no spatial transformation or map configured. publish_geo_pose does the same from a GPS position and heading.