Gnss Poser Gnss_frame Param

[danicannt]

I have noticed that in the gnss poser launch that is being used by the sensing launch there are is a param that specifies the gnss_frame that is being used:

• (autoware/src/sensor_kit/sample_sensor_kit_launch/sample_sensor_kit_launch/launch/gnss.launch.xml)

    <!-- NavSatFix to MGRS Pose -->
    <include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
      <arg name="input_topic_fix" value="$(var navsatfix_topic_name)"/>
      <arg name="input_topic_orientation" value="$(var orientation_topic_name)"/>

      <arg name="output_topic_gnss_pose" value="pose"/>
      <arg name="output_topic_gnss_pose_cov" value="pose_with_covariance"/>
      <arg name="output_topic_gnss_fixed" value="fixed"/>

      <arg name="use_gnss_ins_orientation" value="true"/>

      <arg name="gnss_frame" value="gnss_link"/>

That is unnecessary or useless as later the gnss_poser.launch.xml does not declare that param and it is being read from a param config file:

<?xml version="1.0" encoding="UTF-8"?>
<launch>
  <arg name="param_file" default="$(find-pkg-share gnss_poser)/config/gnss_poser.param.yaml"/>

  <arg name="input_topic_fix" default="/fix"/>
  <arg name="input_topic_orientation" default="/autoware_orientation"/>

  <arg name="output_topic_gnss_pose" default="gnss_pose"/>
  <arg name="output_topic_gnss_pose_cov" default="gnss_pose_cov"/>
  <arg name="output_topic_gnss_fixed" default="gnss_fixed"/>

  <node pkg="gnss_poser" exec="gnss_poser" name="gnss_poser" output="screen">
    <remap from="fix" to="$(var input_topic_fix)"/>
    <remap from="autoware_orientation" to="$(var input_topic_orientation)"/>
    <remap from="gnss_pose" to="$(var output_topic_gnss_pose)"/>
    <remap from="gnss_pose_cov" to="$(var output_topic_gnss_pose_cov)"/>
    <remap from="gnss_fixed" to="$(var output_topic_gnss_fixed)"/>

    <param from="$(var param_file)"/>
  </node>
</launch>