If using simAddVehicle() to spawn vehicles and then calling simGetVehiclePose()

[jconde42]

I don't know if this is intended behavior but it doesn't seem to be documented. When spawning in vehicles with simAddVehicle() to specific points ( not the origin ) any subsequent call to simGetVehiclePose().position will be relative the the spawn location and not to the origin. Hopefully this helps others out there struggling.

[alonfaraj]

hi @jconde42,
I don't think it's a desired behavior.
Also, it's seems like the same behavior reproduce when spawning from settings.json in different position than (0,0,0).
The reason is when you call simGetVehiclePose(), it's actually calling to PawnSimApi::getPose and the inner function calls to NedTransform::toLocalNed, but in this case you want to call NedTransform::toGlobalNed.

Maybe it worth to open an issue or you can make a PR so the maintainers confirm this is not the expected result.

[zimmy87]

See my comment here. I will discuss with my team whether we want to change this behavior, but it appears this may be by design. You can work around this by using the simGetObjectPose() API.