This is an interesting one that I am curious about. I have a very large Skid Steer rover and currently have my GPS set so that the center of rotation is correctly in the center of the rover. Occasionally I will have a small pesticide spraying trailer or spray paint can attached to the back of the rover.
Is there a way to set a temporary / imaginary offset to the GPS so that it still turns around the center of rotation while specifically trying to hit the GPS at a different location on the rover?
Example:
Here is my line marking spray paint can. Now I was planning on just using this for straight lines, marking between two way points. But if I could set the GPS with an offset so that it turns around the center of the spray paint, that would make things much simpler. This spray paint is for example, 0.5m behind the center of rotation.
If anyone is interested the spray paint holder can be downloaded here: Servo Controlled Spray Paint Marking Sprayer by AJ Quick | Download free STL model | Printables.com
(Obviously the waypoints could just be entered with the offset already, I am just wondering if there is already a way to do it in Ardupilot. Even just offsetting the GPS by a set amount could work so that it thinks it is where the spray paint is.)