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View Code? Open in Web Editor NEWInterface for Novatel GPS receivers
Interface for Novatel GPS receivers
Asking for an L1L2Range message requires also asking for BestUTM and PsrPos.
Getting an RTK and/or PSR solution should be very clear and straightforward. This next push to master will fix the problem of just getting a NavSatFix message for PSRPOS, but we need to clean the whole thing up.
The simple NavSatFix "/gps_fix" topic doesn't output anything right now. It should be derived from BestPos.
Branch merge_into_master contains the merge of changes made by Will/David on master branch and changes made by Chris and Robert on real_merge branch. It compiles, but needs to be tested before pulling into master to make sure nothing got broken in the merge.
possibly problem iterating over the struct incorrectly. shows fewer L2 obs than the MOOS app shows, and L1 obs are clearly wrong (PSR way too low).
I got 1.58 and when I run the make in the novatel directory, I get errors about the following Boost libraries not found:
boost_system
boost_filesystem
boost_thread
msg buffer length > sizeof(output_struct)
Most applications need to build a data base, and this doesn't happen immediately if ONNEW/ONCHANGED is selected. No ephems are obtained until an SV drops in/out. ONTIME gets obnoxious and ties up bandwidth because rarely will those messages be useful. we should have a one-off blast of everything it sees on init then rever to ONCHANGED.
It says that master is deprecated so which branch is the right one to use?
Hi! Just curious if this repo is still under maintenance?
I noticed that novatel_node.cpp
uses tf::createQuaternionMsgFromRollPitchYaw
to handle attitude angle roll/pitch/azimuth. tf::createQuaternionMsgFromRollPitchYaw
assumes roll is around x and pitch around y. However, according to novatel manuals, in e.g. the PVA log, roll is around y and pitch around x. Azimuth is around z but left-hand rotated. So suggested to change the code to
Eigen::Quaterniond quat(Eigen::AngleAxisd(-ins_pva.azimuth * degrees_to_radians, Eigen::Vector3d::UnitZ()) *
Eigen::AngleAxisd(ins_pva.pitch * degrees_to_radians, Eigen::Vector3d::UnitX()) *
Eigen::AngleAxisd(ins_pva.roll * degrees_to_radians, Eigen::Vector3d::UnitY()));
tf::quaternionEigenToMsg(quat, cur_odom_.pose.pose.orientation);
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