changed a little bit the yaml params

include/gnss/sensor/sensor_gnss.h

@@ -52,6 +52,7 @@ struct ParamsSensorGnss : public ParamsSensorBase
         bool yaw_fixed = true;
         bool translation_fixed = true;
         Eigen::Vector3d ENU_latlonalt = Eigen::Vector3d::Zero();
+        bool latlon_in_degrees = false;
 
 
         ~ParamsSensorGnss() override = default;
@@ -71,7 +72,10 @@ struct ParamsSensorGnss : public ParamsSensorBase
                 yaw_fixed          = _server.getParam<bool>(prefix + _unique_name + "/ENU/yaw_fixed");
                 translation_fixed  = _server.getParam<bool>(prefix + _unique_name + "/ENU/translation_fixed");
                 if (ENU_mode == "manual")
-                    ENU_latlonalt      = _server.getParam<Eigen::Vector3d>(prefix + _unique_name + "/ENU_latlonalt");
+                {
+                    ENU_latlonalt      = _server.getParam<Eigen::Vector3d>(prefix + _unique_name + "/ENU/latlonalt");
+                    latlon_in_degrees  = _server.getParam<bool>(prefix + _unique_name + "/ENU/latlon_in_degrees");
+                }
             }
             else if (ENU_mode != "ECEF")
             {

src/sensor/sensor_gnss.cpp

@@ -99,7 +99,9 @@ void SensorGnss::setEcefEnu(const Eigen::Vector3d& _ENU, bool _ECEF_coordinates)
     if (_ECEF_coordinates)
         GnssUtils::computeEnuEcefFromEcef(_ENU, R_ENU_ECEF_, t_ENU_ECEF_);
     else
-        GnssUtils::computeEnuEcefFromEcef(GnssUtils::latLonAltToEcef(_ENU), R_ENU_ECEF_, t_ENU_ECEF_);
+        GnssUtils::computeEnuEcefFromEcef(GnssUtils::latLonAltToEcef(_ENU, not params_->latlon_in_degrees), 
+                                          R_ENU_ECEF_, 
+                                          t_ENU_ECEF_);
 
     ENU_defined_ = true;