[feature]support geoid2024beta

Author: Ryohei Sasaki

eagleye_util/fix2pose/launch/fix2pose.launch

@@ -10,7 +10,7 @@
   <!-- 0 : No convert  1 : ellipsoid -> altitude  2 : altitude -> ellipsoid -->
   <arg name="convert_height_num" default="0"/>
 
-  <!-- 0 : EGM2008-1  1 : GSIGE2011 Ver2.1 -->
+  <!-- 0 : EGM2008-1  1 : GSIGE2011 Ver2.1 2 : GSIGE2011beta-->
   <param name="geoid_type" value="0"/>
 
   <!-- Parameters for tf to publish -->

eagleye_util/fix2pose/src/fix2pose.cpp

@@ -57,8 +57,7 @@ static geometry_msgs::PoseWithCovarianceStamped _pose_with_covariance;
 
 static std::string _parent_frame_id, _child_frame_id, _base_link_frame_id, _gnss_frame_id;
 
-std::string geoid_file_path = ros::package::getPath("llh_converter") + "/data/gsigeo2011_ver2_1.asc";
-llh_converter::LLHConverter _lc(geoid_file_path);
+llh_converter::LLHConverter _lc;
 llh_converter::LLHParam _llh_param;
 
 bool _fix_only_publish = false;
@@ -280,6 +279,10 @@ int main(int argc, char** argv)
   {
     _llh_param.geoid_type = llh_converter::GeoidType::GSIGEO2011;
   }
+  else if(geoid_type == 2)
+  {
+    height_converter_.setGeoidType(llh_converter::GeoidType::GSIGEO2024);
+  }
   else
   {
     ROS_ERROR("GeoidType is not valid");