Translation and GPS do not match (robot jumps to reported GPS coordinates)

[lucasl84]

Hi,

I'm experiencing an issue that I don't know if it is a bug, it's probably not but nevertheless I'm unable to spot what could be producing the problem. I have two different environments in which there is at least one human robot. In both environments the controller is exactly the same.

In one environment I can see that the robot's translation (from the left menu) says translation 20.1 -8.3 1.27 which matches the GPS coordinates shown in the console: Point list: ['20.12 -8.3', '20.12 -8.100000000000001'] (in this case 20.12 -8.3).

I can move the human robot around and everything works as expected. Here's a screenshot of this environment showing the translation and the console output that I mentioned above:

Now for the second environment I'm using one of the village environments provided by Webots (with some modifications, just added a vehicle and some human robots). The setup is similar, a human robot with the same controller. When I run the simulation I see this:

As you can see the reported GPS coordinates (-133.76739999999998 -16.06595) and translation -180 -22.6 1.33 values are NOT the same. Moreover if I move the human robot, it will "jump" to the coordinates indicated by the GPS (in this case it will translate to: -133.76739999999998 -16.06595). So it seems that something is off or incorrect and I can't figure out what. After slightly moving the robot I see this:

So now the robot appears at approximately the reported GPS coordinates and translation shows: translation -134 -15.9 in the left menu. I'm using Webots R2023b.

Any insights on why this mismatch and consequently the robot jump could be happening?

Thanks in advance for your time,
Lucas.

[lucasl84]

Ok, just figured out. The problem was the gpsReference under WorldInfo. It was not set to 0 0 0.