diff --git a/README.md b/README.md index ab6189e..cd1159c 100644 --- a/README.md +++ b/README.md @@ -4,15 +4,40 @@ The driver is designed to listen on a TCP or Serial port for the [_Fixposition ASCII Messages_](#fixposition-ascii-messages), and then publish them as corresponding ROS messages. At the same time, the driver can also subscribe to a speed input message, which will be sent back to the Vision-RTK 2 sensor and provide an external speed input. -- For the output ROS messages, see [Output of the driver](#output-of-the-driver) -- For the input ROS messages for speed input, see [Input Wheelspeed through the driver](#input-wheelspeed-through-the-driver) +- For the output ROS messages, see [Output of the driver](#output-of-the-driver) +- For the input ROS messages for speed input, see [Input Wheelspeed through the driver](#input-wheelspeed-through-the-driver) + +## Changelogs + +_For questions about compatibility, please contact Fixpositions Support support@fixposition.com_ + +- [6.0.1](https://github.com/fixposition/fixposition_driver/releases/tag/6.0.1) + - Adapted to be compatible with updated Fixposition message definitions + - **Compatible with Vision-RTK 2 software released after 09.03.2023** +- [5.0.0](https://github.com/fixposition/fixposition_driver/releases/tag/5.0.0) + - Support both ROS1 and ROS2 + - Diverse bugfixes in code and documentation + - **This is the last version compatible with Vision-RTK 2 software released before 17.01.2023** +- [4.4.0](https://github.com/fixposition/fixposition_driver/releases/tag/4.4.0) + - Pitch-Roll estimation from IMU data parsed from Vision-RTK 2, output available before fusion initialization. + - OdometryConverter imeplemented as an example for wheelspeed data integration. +- [4.3.0](https://github.com/fixposition/fixposition_driver/releases/tag/4.3.0) + - Automatic reconnect after connection is lost + - Adaption to latest Vision-RTK 2 software changes +- [4.2.0](https://github.com/fixposition/fixposition_driver/releases/tag/4.2.0) + - Euler Angle Yaw-Pitch-Roll in local ENU frame + - Odometry in fixed ENU0 frame +- [4.0.1](https://github.com/fixposition/fixposition_driver/releases/tag/4.0.1) + - First public release + - Code cleanup ## Directory structure + The code is split in the following 3 parts: -- `fixposition_driver_lib`: common CMake library to parse [_Fixposition ASCII Messages_](#fixposition-ascii-messages). For more details and build instructions, see [here](fixposition_driver_lib/README.md). -- `fixposition_driver_ros1`: ROS1 driver node to subscribe and publish in the ROS1 framework. For more details and build instructions, see [here](fixposition_driver_ros1/README.md). -- `fixposition_driver_ros2`: ROS2 driver node to subscribe and publish in the ROS2 framework. For more details and build instructions, see [here](fixposition_driver_ros2/README.md). +- `fixposition_driver_lib`: common CMake library to parse [_Fixposition ASCII Messages_](#fixposition-ascii-messages). For more details and build instructions, see [here](fixposition_driver_lib/README.md). +- `fixposition_driver_ros1`: ROS1 driver node to subscribe and publish in the ROS1 framework. For more details and build instructions, see [here](fixposition_driver_ros1/README.md). +- `fixposition_driver_ros2`: ROS2 driver node to subscribe and publish in the ROS2 framework. For more details and build instructions, see [here](fixposition_driver_ros2/README.md). ## Output of the driver @@ -20,59 +45,56 @@ The code is split in the following 3 parts: The output is published on the following: -- From ODOMETRY, at the configured frequency - - Messages - - | Topic | Message Type | Frequency | Description | - | --------------------------- | ------------------------- | ------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------- | - | `/fixposition/odometry` | `nav_msgs/Odometry` | as configured on web-interface | Position, Orientation from ECEF to FP_POI, Velocity and Angular Velocity in FP_POI | - | `/fixposition/odometry_enu` | `nav_msgs/Odometry` | as configured on web-interface | Position, Orientation from ENU0 to FP_POI, Velocity and Angular Velocity in FP_POI | - | `/fixposition/ypr` | `geometry_msgs/Vector3` | as configured on web-interface | x = Yaw, y = Pitch, z = Roll in radian. Euler angles representation of rotation between ENU and P_POI. Only available after fusion initialization. | - | `/fixposition/imu_ypr` | `geometry_msgs/Vector3` | 200Hz | x = 0.0, y = Pitch, z = Roll in radian. Euler angles representation of rotation between a local horizontal frame and P_POI. Rough estimation using IMU alone. | - | `/fixposition/vrtk` | `fixposition_driver/VRTK` | as configured on web-interface | Custom Message containing same Odometry information as well as status flags | - | `/fixposition/poiimu` | `sensor_msgs/Imu` | as configured on web-interface | Bias Corrected acceleration and rotation rate in FP_POI | - -- From LLH, at the configured frequency +- From ODOMETRY, at the configured frequency + - Messages - | Topic | Message Type | Frequency | Description | - | ------------------------ | ----------------------- | ------------------------------ | ------------------------------ | - | `/fixposition/navsatfix` | `sensor_msgs/NavSatFix` | as configured on web-interface | Latitude, Longitude and Height | + | Topic | Message Type | Frequency | Description | + | --------------------------- | ------------------------- | ------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------- | + | `/fixposition/odometry` | `nav_msgs/Odometry` | as configured on web-interface | Position, Orientation from ECEF to FP_POI, Velocity and Angular Velocity in FP_POI | + | `/fixposition/odometry_enu` | `nav_msgs/Odometry` | as configured on web-interface | Position, Orientation from ENU0 to FP_POI, Velocity and Angular Velocity in FP_POI | + | `/fixposition/ypr` | `geometry_msgs/Vector3` | as configured on web-interface | x = Yaw, y = Pitch, z = Roll in radian. Euler angles representation of rotation between ENU and P_POI. Only available after fusion initialization. | + | `/fixposition/imu_ypr` | `geometry_msgs/Vector3` | 200Hz | x = 0.0, y = Pitch, z = Roll in radian. Euler angles representation of rotation between a local horizontal frame and P_POI. Rough estimation using IMU alone. | + | `/fixposition/vrtk` | `fixposition_driver/VRTK` | as configured on web-interface | Custom Message containing same Odometry information as well as status flags | + | `/fixposition/poiimu` | `sensor_msgs/Imu` | as configured on web-interface | Bias Corrected acceleration and rotation rate in FP_POI | +- From LLH, at the configured frequency -- From RAWIMU, at 200Hz + | Topic | Message Type | Frequency | Description | + | ------------------------ | ----------------------- | ------------------------------ | ------------------------------ | + | `/fixposition/navsatfix` | `sensor_msgs/NavSatFix` | as configured on web-interface | Latitude, Longitude and Height | - | Topic | Message Type | Frequency | Description | - | --------------------- | ----------------- | --------- | ----------------------------------------------------------------------------------------- | - | `/fixposition/rawimu` | `sensor_msgs/Imu` | 200Hz | Raw (without bias correction) IMU acceleration and angular velocity data in FP_VRTK frame | +- From RAWIMU, at 200Hz + | Topic | Message Type | Frequency | Description | + | --------------------- | ----------------- | --------- | ----------------------------------------------------------------------------------------- | + | `/fixposition/rawimu` | `sensor_msgs/Imu` | 200Hz | Raw (without bias correction) IMU acceleration and angular velocity data in FP_VRTK frame | -- From CORRIMU, at 200Hz +- From CORRIMU, at 200Hz - | Topic | Message Type | Frequency | Description | - | ---------------------- | ----------------- | --------- | -------------------------------------------------------------------------- | - | `/fixposition/corrimu` | `sensor_msgs/Imu` | 200Hz | Bias Corrected IMU acceleration and angular velocity data in FP_VRTK frame | + | Topic | Message Type | Frequency | Description | + | ---------------------- | ----------------- | --------- | -------------------------------------------------------------------------- | + | `/fixposition/corrimu` | `sensor_msgs/Imu` | 200Hz | Bias Corrected IMU acceleration and angular velocity data in FP_VRTK frame | -- TFs: - | Frames | Topic | Message needed to be selected on web-interface | Frequency | +- TFs: + | Frames | Topic | Message needed to be selected on web-interface | Frequency | | ---------------------------- | ------------ | ---------------------------------------------- | ------------------------------ | - | `ECEF-->FP_POI` | `/tf` | `ODOMETRY` | as configured on web-interface | - | `ECEF-->FP_ENU` | `/tf` | `ODOMETRY` | as configured on web-interface | - | `ECEF-->FP_ENU0` | `/tf` | `ODOMETRY` | as configured on web-interface | - | `FP_POI-->FP_IMU_HORIZONTAL` | `/tf` | `ODOMETRY` | 200Hz | - | `FP_POI-->FP_VRTK` | `/tf_static` | `TF_POI_VRTK` | 1Hz | - | `FP_VRTK-->FP_CAM` | `/tf_static` | `TF_VRTK_CAM` | 1Hz | - - -- ROS TF Tree: - - ```mermaid - graph TD; - ECEF-->FP_POI-->FP_VRTK-->FP_CAM - FP_POI-->FP_IMU_HORIZONTAL - ECEF-->FP_ENU - ECEF-->FP_ENU0 - ``` + | `ECEF-->FP_POI` | `/tf` | `ODOMETRY` | as configured on web-interface | + | `ECEF-->FP_ENU` | `/tf` | `ODOMETRY` | as configured on web-interface | + | `ECEF-->FP_ENU0` | `/tf` | `ODOMETRY` | as configured on web-interface | + | `FP_POI-->FP_IMU_HORIZONTAL` | `/tf` | `ODOMETRY` | 200Hz | + | `FP_POI-->FP_VRTK` | `/tf_static` | `TF_POI_VRTK` | 1Hz | + | `FP_VRTK-->FP_CAM` | `/tf_static` | `TF_VRTK_CAM` | 1Hz | + +- ROS TF Tree: + + ```mermaid + graph TD; + ECEF-->FP_POI-->FP_VRTK-->FP_CAM + FP_POI-->FP_IMU_HORIZONTAL + ECEF-->FP_ENU + ECEF-->FP_ENU0 + ``` _Please note that the corresponding messages also has to be selected on the Fixposition V-RTK's configuration interface._ @@ -94,35 +116,35 @@ The fp_ros_driver support inputing a Speed msg (`msg/Speed.msg`) through the `/f The input velocity values should be in [mm/s], respectively [mrad/s], as integer 32bit. There are 2 Options: -- Option 1: Only one vehicle speed, then only fill a single value as the vehicle speed -- Option 2: One vehicle speed and the rotation around the vehicle's rotation center -- Option 3: Fill in 4 Values of 4 wheels, in the order of FR, FL, RR, RL +- Option 1: Only one vehicle speed, then only fill a single value as the vehicle speed +- Option 2: One vehicle speed and the rotation around the vehicle's rotation center +- Option 3: Fill in 4 Values of 4 wheels, in the order of FR, FL, RR, RL The input values will be converted into a NOV_B-RAWDMI message and sent via the TCP interface to the Vision-RTK2, where it will be further processed and added into the positioning engine. The following protocol is used when filling the DMI messages, as per the documentation: -| # | Offset | Field | Type | Unit | Example | Description | -| ---: | -----: | ------------- | -------------- | ---- | ------- | ------------------------------------------------------- | -| - | 0 | `sync1` | uint8_t | - | `0xaa` | Sync byte 1 (always `0xaa`) | -| - | 1 | `sync2` | uint8_t | - | `0x44` | Sync byte 2 (always `0x44`) | -| - | 2 | `sync3` | uint8_t | - | `0x13` | Sync byte 3 (always `0x13`) | -| - | 3 | `payload_len` | uint8_t | - | `20` | Payload length (always `20` for this message) | -| - | 4 | `msg_id` | uint16_t | - | `2269` | Message ID (always `2269` for this message) | -| 1 | 6 | `gps_wno` | uint16_t | - | `0` | Week number, set to `0`, not supported by VRTK2 | -| 2 | 8 | `gps_tow` | int32_t | ms | `0` | Time of week [ms], set to `0`, no supported by VRTK2 | -| 3 | 12 | `dmi1` | int32_t | - | | Measurement value 1, for RC or FR wheel | -| 4 | 16 | `dmi2` | int32_t | - | | Measurement value 2, for FL wheel or YW sensor | -| 5 | 20 | `dmi3` | int32_t | - | | Measurement value 3, for RR wheel | -| 6 | 24 | `dmi4` | int32_t | - | | Measurement value 4, for RL wheel | -| - | 28 | `mask` | uint32_t | - | | *Bitfield:* | -| 7 | | `dmi1_valid` | - *bit 0* | - | | Validity flag for *dmi1* value (0 = invalid, 1 = valid) | -| 8 | | `dmi2_valid` | - *bit 1* | - | | Validity flag for *dmi2* value (0 = invalid, 1 = valid) | -| 9 | | `dmi3_valid` | - *bit 2* | - | | Validity flag for *dmi3* value (0 = invalid, 1 = valid) | -| 10 | | `dmi4_valid` | - *bit 3* | - | | Validity flag for *dmi4* value (0 = invalid, 1 = valid) | -| 11 | | `dmi1_type` | - *bits 10…4* | - | | Type of measurement present in *dmi1* value (see below) | -| 12 | | `dmi2_type` | - *bits 17…11* | - | | Type of measurement present in *dmi2* value (see below) | -| 13 | | `dmi3_type` | - *bits 24…18* | - | | Type of measurement present in *dmi3* value (see below) | -| 14 | | `dmi4_type` | - *bits 31…25* | - | | Type of measurement present in *dmi3* value (see below) | -| - | 32 | `checksum` | uint32_t | - | | CRC32 checksum (see VRTK2 documentation) | +| # | Offset | Field | Type | Unit | Example | Description | +| --: | -----: | ------------- | -------------- | ---- | ------- | ------------------------------------------------------- | +| - | 0 | `sync1` | uint8_t | - | `0xaa` | Sync byte 1 (always `0xaa`) | +| - | 1 | `sync2` | uint8_t | - | `0x44` | Sync byte 2 (always `0x44`) | +| - | 2 | `sync3` | uint8_t | - | `0x13` | Sync byte 3 (always `0x13`) | +| - | 3 | `payload_len` | uint8_t | - | `20` | Payload length (always `20` for this message) | +| - | 4 | `msg_id` | uint16_t | - | `2269` | Message ID (always `2269` for this message) | +| 1 | 6 | `gps_wno` | uint16_t | - | `0` | Week number, set to `0`, not supported by VRTK2 | +| 2 | 8 | `gps_tow` | int32_t | ms | `0` | Time of week [ms], set to `0`, no supported by VRTK2 | +| 3 | 12 | `dmi1` | int32_t | - | | Measurement value 1, for RC or FR wheel | +| 4 | 16 | `dmi2` | int32_t | - | | Measurement value 2, for FL wheel or YW sensor | +| 5 | 20 | `dmi3` | int32_t | - | | Measurement value 3, for RR wheel | +| 6 | 24 | `dmi4` | int32_t | - | | Measurement value 4, for RL wheel | +| - | 28 | `mask` | uint32_t | - | | _Bitfield:_ | +| 7 | | `dmi1_valid` | - _bit 0_ | - | | Validity flag for _dmi1_ value (0 = invalid, 1 = valid) | +| 8 | | `dmi2_valid` | - _bit 1_ | - | | Validity flag for _dmi2_ value (0 = invalid, 1 = valid) | +| 9 | | `dmi3_valid` | - _bit 2_ | - | | Validity flag for _dmi3_ value (0 = invalid, 1 = valid) | +| 10 | | `dmi4_valid` | - _bit 3_ | - | | Validity flag for _dmi4_ value (0 = invalid, 1 = valid) | +| 11 | | `dmi1_type` | - _bits 10…4_ | - | | Type of measurement present in _dmi1_ value (see below) | +| 12 | | `dmi2_type` | - _bits 17…11_ | - | | Type of measurement present in _dmi2_ value (see below) | +| 13 | | `dmi3_type` | - _bits 24…18_ | - | | Type of measurement present in _dmi3_ value (see below) | +| 14 | | `dmi4_type` | - _bits 31…25_ | - | | Type of measurement present in _dmi3_ value (see below) | +| - | 32 | `checksum` | uint32_t | - | | CRC32 checksum (see VRTK2 documentation) | Measurement types (`dmi1_type`, `dmi2_type`, `dmi3_type` and `dmi4_type`): @@ -133,7 +155,6 @@ Measurement types (`dmi1_type`, `dmi2_type`, `dmi3_type` and `dmi4_type`): Note: _Currently the wheelspeed input through the ROS driver is only supported in the TCP mode_ - ## Code Documentation Run `doxygen Doxyfile` to generate Doxygen code documentation. @@ -150,48 +171,48 @@ NMEA style framing is used. Frames (messages) are in this form: Where: -- The NMEA style framing: - - \$ - -- Start character ("$", ASCII 36) - - \*CC - -- Checksum: "\*" (ASCII 42) and two digit XOR value of all payload - characters in captial hexadecimal notation, for example: - "FPX" = `'F' ^ 'P' ^ 'X' = 70 ^ 80 ^ 88 = 78 = 0x4e` = checksum `4E` - - \r\n - -- Sentence termination characters (CR + LF, ASCII 13 + 10) -- A Fixposition identifier: - - FP - -- Fixposition ASCII message identifier, "FP" (ASCII 70 + 80) -- Fixposition message type and version: - - msg_type (= field1) - -- Message type, all captial letters (ASCII 65--90) - - msg_version (= field2) - -- Message version, decimal number (letters 0--9, ASCII 48--57), range 1--... -- Data fields (payload) - - field3,field4,...,fieldN - -- The structure of the message data is defined by the msg_type - and version. - Each field can contain all printable 7-bit ASCII characters (ASCII 32–126), excluding the - reserved characters `!` (ASCII 33), `$` (ASCII 36), `*` (ASCII 42), `,` (ASCII 44), - `\` (ASCII 92), `~` (ASCII 126). -- Field separators - - All fields (identifier, message type, message version, data fields) are separated by a comma (`,`, ASCII 44) -- Null fields - - Data fields can be _null_, meaning their value is absent to indicate that no data is - available. The data for null fields is the empty string. For example: - - Definition: ...,fieldi,fieldi+1,fieldi+2,... - - Values: fieldi = 123, fieldi+1 = _null_, - fieldi+2 = 456 - - Payload string: ...,123,,456,... -- Data field types: - - _Numeric_: Decimal integer number, one or more digits (0-9) and optional leading "-" sign - - _Float (.x)_: Decimal floating point number, one or more digits (0-9) and optional leading "-" sign, with - _x_ digits fractional part separated by a dot (".") - - _Float (x)_: Decimal floating point number with _x_ significant digits, optional leading "-", optional fractional - part separated by a dot (".") - - _String_: String of allowed payload characters (but not the `,` field separator) - - ... - - ... +- The NMEA style framing: + - \$ + -- Start character ("$", ASCII 36) + - \*CC + -- Checksum: "\*" (ASCII 42) and two digit XOR value of all payload + characters in captial hexadecimal notation, for example: + "FPX" = `'F' ^ 'P' ^ 'X' = 70 ^ 80 ^ 88 = 78 = 0x4e` = checksum `4E` + - \r\n + -- Sentence termination characters (CR + LF, ASCII 13 + 10) +- A Fixposition identifier: + - FP + -- Fixposition ASCII message identifier, "FP" (ASCII 70 + 80) +- Fixposition message type and version: + - msg_type (= field1) + -- Message type, all captial letters (ASCII 65--90) + - msg_version (= field2) + -- Message version, decimal number (letters 0--9, ASCII 48--57), range 1--... +- Data fields (payload) + - field3,field4,...,fieldN + -- The structure of the message data is defined by the msg_type + and version. + Each field can contain all printable 7-bit ASCII characters (ASCII 32–126), excluding the + reserved characters `!` (ASCII 33), `$` (ASCII 36), `*` (ASCII 42), `,` (ASCII 44), + `\` (ASCII 92), `~` (ASCII 126). +- Field separators + - All fields (identifier, message type, message version, data fields) are separated by a comma (`,`, ASCII 44) +- Null fields + - Data fields can be _null_, meaning their value is absent to indicate that no data is + available. The data for null fields is the empty string. For example: + - Definition: ...,fieldi,fieldi+1,fieldi+2,... + - Values: fieldi = 123, fieldi+1 = _null_, + fieldi+2 = 456 + - Payload string: ...,123,,456,... +- Data field types: + - _Numeric_: Decimal integer number, one or more digits (0-9) and optional leading "-" sign + - _Float (.x)_: Decimal floating point number, one or more digits (0-9) and optional leading "-" sign, with + _x_ digits fractional part separated by a dot (".") + - _Float (x)_: Decimal floating point number with _x_ significant digits, optional leading "-", optional fractional + part separated by a dot (".") + - _String_: String of allowed payload characters (but not the `,` field separator) + - ... + - ... ### ODOMETRY message @@ -208,7 +229,7 @@ Example message (wrapped on multiple lines for readability): Message fields: | # | Field | Format | Unit | Example | Description | -|----:|----------------------|------------|-----------------------------|-----------------------------|------------------------------------------------------------------------| +| --: | -------------------- | ---------- | --------------------------- | --------------------------- | ---------------------------------------------------------------------- | | 1 | `msg_type` | String | - | `ODOMETRY` | Message type, always `ODOMETRY` for this message | | 2 | `msg_version` | Numeric | - | `2` | Message version, always `2` for this version of the `ODOMETRY` message | | 3 | `gps_week` | Numeric | - | `2231` | GPS week number, range 0--9999 | @@ -257,7 +278,7 @@ Message fields: Fusion status (`fusion_status`): | Value | Description | -|:-----:|-----------------------------| +| :---: | --------------------------- | | `0` | Not started | | `1` | Vision only | | `2` | Visual inertial fusion | @@ -267,14 +288,14 @@ Fusion status (`fusion_status`): IMU bias status (`imu_bias_status`): | Value | Description | -|:-----:|--------------------| +| :---: | ------------------ | | `0` | Not converged | | `1` | IMU bias converged | GNSS fix type (`gnss1_fix`, `gnss2_fix`): | Value | Description | -|:-----:|-----------------------------------| +| :---: | --------------------------------- | | `0` | Unknown | | `1` | No fix | | `2` | Dead-reckoning only | @@ -288,14 +309,14 @@ GNSS fix type (`gnss1_fix`, `gnss2_fix`): Wheelspeed status (`wheelspeed_status`): | Value | Description | -|:-----:|----------------------------------------------------------| +| :---: | -------------------------------------------------------- | | `-1` | No wheelspeed enabled | | `0` | At least one wheelspeed enabled, no wheelspeed converged | | `1` | At least one wheelspeed enabled and converged | Remarks: -- The output frame is the frame configured on the web-interface. +- The output frame is the frame configured on the web-interface. ### LLH message @@ -311,7 +332,7 @@ Example message (wrapped on multiple lines for readability): Message fields: | # | Field | Format | Unit | Example | Description | -|----:|---------------|------------|---------------|-----------------|----------------------------------------------------------------------------| +| --: | ------------- | ---------- | ------------- | --------------- | -------------------------------------------------------------------------- | | 1 | `msg_type` | String | - | `LLH` | Message type, always `LLH` for this message | | 2 | `msg_version` | Numeric | - | `1` | Message version, always `1` for this version of the `LLH` message | | 3 | `gps_week` | Numeric | - | `2231` | GPS week number, range 0--9999 | @@ -326,7 +347,6 @@ Message fields: | 12 | `pos_cov_nu` | Float (5) | m2 | `0.00086` | Position covariance in ENU, element NU | | 13 | `pos_cov_eu` | Float (5) | m2 | `-0.00136` | Position covariance in ENU, element EU | - ### RAWIMU message This message contains time, acceleration and angular velocity (raw value, no bias correction, only @@ -341,7 +361,7 @@ Example message: Message fields: | # | Field | Format | Unit | Example | Description | -|----:|---------------|------------|-----------------|-----------------|----------------------------------------------------------------------| +| --: | ------------- | ---------- | --------------- | --------------- | -------------------------------------------------------------------- | | 1 | `msg_type` | String | - | `RAWIMU` | Message type, always `RAWIMU` for this message | | 2 | `msg_version` | Numeric | - | `1` | Message version, always `1` for this version of the `RAWIMU` message | | 3 | `gps_week` | Numeric | - | `2197` | GPS week number, range 0--9999 | @@ -381,8 +401,8 @@ Message fields: Remarks: -- The output frame of the IMU messages is the X on VRTK sensor, NOT the frame configured from the - webinterface (They are of course the same when on webinterface the configs are 0s). +- The output frame of the IMU messages is the X on VRTK sensor, NOT the frame configured from the + webinterface (They are of course the same when on webinterface the configs are 0s). ### TF message @@ -396,7 +416,7 @@ Example messages: Message fields: | # | Field | Format | Unit | Example | Description | -|----:|-----------------|------------|------|-----------------|------------------------------------------------------------------| +| --: | --------------- | ---------- | ---- | --------------- | ---------------------------------------------------------------- | | 1 | `msg_type` | String | - | `TF` | Message type, always `TF` for this message | | 2 | `msg_version` | Numeric | - | `2` | Message version, always `2` for this version of the `TF` message | | 3 | `gps_week` | Numeric | - | `2233` | GPS week number, range 0--9999 | @@ -415,9 +435,6 @@ Message fields: This is an extra node is provided to help with the integration of the wheel odometry on your vehicle. For details, see the subfolder [fixposition_odometry_converter](fixposition_odometry_converter/README.md). - - - # License This project is licensed under the MIT License - see the [LICENSE](LICENSE) file for details diff --git a/fixposition_driver_lib/include/fixposition_driver_lib/converter/imu.hpp b/fixposition_driver_lib/include/fixposition_driver_lib/converter/imu.hpp index 2c0cc1b..745a2b8 100644 --- a/fixposition_driver_lib/include/fixposition_driver_lib/converter/imu.hpp +++ b/fixposition_driver_lib/include/fixposition_driver_lib/converter/imu.hpp @@ -34,10 +34,6 @@ class ImuConverter : public BaseConverter { ~ImuConverter() = default; - bool CheckHeaderAndVersion(const std::string msg_header, const std::string msg_version) final { - return msg_header == header_ && std::stoi(msg_version) == kVersion_; - } - /** * @brief Take comma-delimited tokens of FP,RAWIMU or FP,RAWIMU message, convert to Data structs and if available, * call observers @@ -63,6 +59,7 @@ class ImuConverter : public BaseConverter { const bool bias_correction_; static constexpr const int kVersion_ = 1; + static constexpr const int kSize_ = 11; }; } // namespace fixposition #endif // __FIXPOSITION_DRIVER_LIB_CONVERTER_IMU__ diff --git a/fixposition_driver_lib/include/fixposition_driver_lib/converter/llh.hpp b/fixposition_driver_lib/include/fixposition_driver_lib/converter/llh.hpp index a70c532..9c3d512 100644 --- a/fixposition_driver_lib/include/fixposition_driver_lib/converter/llh.hpp +++ b/fixposition_driver_lib/include/fixposition_driver_lib/converter/llh.hpp @@ -35,10 +35,6 @@ class LlhConverter : public BaseConverter { ~LlhConverter() = default; - bool CheckHeaderAndVersion(const std::string msg_header, const std::string msg_version) final { - return msg_header == header_ && std::stoi(msg_version) == kVersion_; - } - /** * @brief Take comma-delimited tokens of FP,LLH message, convert to Data structs and if available, * call observers @@ -61,6 +57,7 @@ class LlhConverter : public BaseConverter { std::vector obs_; const std::string header_ = "LLH"; static constexpr const int kVersion_ = 1; + static constexpr const int kSize_ = 14; }; } // namespace fixposition #endif // __FIXPOSITION_DRIVER_LIB_CONVERTER_LLH__