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[autoware-main] feat(gnss_converter): enable to read septentrio_gnss_driver/PVTGeodetic for velocity source #334

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Jul 3, 2024
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[autoware-main] feat(gnss_converter): enable to read septentrio_gnss_driver/PVTGeodetic for velocity source #334

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2 changes: 1 addition & 1 deletion eagleye_rt/config/README.md
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Expand Up @@ -17,7 +17,7 @@ The parameters for estimation in Eagleye can be set in the `config/eagleye_confi
| imu_topic | string | Topic name to be subscribed to in node (sensor_msgs/Imu.msg) | /imu/data_raw |
| twist.twist_type | int | Topic type to be subscribed to in node (TwistStamped : 0, TwistWithCovarianceStamped: 1) | 0 |
| twist.twist_topic | string | Topic name to be subscribed to in node | /can_twist |
| gnss.velocity_source_type | int | Topic type to be subscribed to in node (rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3) | 0 |
| gnss.velocity_source_type | int | Topic type to be subscribed to in node (rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3, septentrio_gnss_driver/PVTGeodetic: 4) | 0 |
| gnss.velocity_source_topic | string | Topic name to be subscribed to in node | /rtklib_nav |
| gnss.llh_source_type | int | Topic type to be subscribed to in node (rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2) | 0 |
| gnss.llh_source_topic | string | Topic name to be subscribed to in node | /rtklib_nav |
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2 changes: 1 addition & 1 deletion eagleye_rt/config/eagleye_config.yaml
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Expand Up @@ -10,7 +10,7 @@
twist_topic: /can_twist
imu_topic: /imu/data_raw
gnss:
velocity_source_type: 0 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3
velocity_source_type: 0 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3, septentrio_gnss_driver/PVTGeodetic: 4
velocity_source_topic: /rtklib_nav
llh_source_type: 0 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2
llh_source_topic: /rtklib_nav
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3 changes: 3 additions & 0 deletions eagleye_util/gnss_converter/package.xml
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Expand Up @@ -13,6 +13,7 @@
<build_depend>sensor_msgs</build_depend>
<build_depend>nmea_msgs</build_depend>
<build_depend>ublox_msgs</build_depend>
<build_depend>septentrio_gnss_driver</build_depend>
<build_depend>rtklib_msgs</build_depend>
<build_depend>eagleye_coordinate</build_depend>
<build_depend>eagleye_navigation</build_depend>
Expand All @@ -22,6 +23,7 @@
<build_export_depend>sensor_msgs</build_export_depend>
<build_export_depend>nmea_msgs</build_export_depend>
<build_export_depend>ublox_msgs</build_export_depend>
<build_export_depend>septentrio_gnss_driver</build_export_depend>
<build_export_depend>rtklib_msgs</build_export_depend>
<build_export_depend>eagleye_coordinate</build_export_depend>
<build_export_depend>eagleye_navigation</build_export_depend>
Expand All @@ -31,6 +33,7 @@
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>nmea_msgs</exec_depend>
<exec_depend>ublox_msgs</exec_depend>
<exec_depend>septentrio_gnss_driver</exec_depend>
<exec_depend>rtklib_msgs</exec_depend>
<exec_depend>eagleye_coordinate</exec_depend>
<exec_depend>eagleye_navigation</exec_depend>
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37 changes: 37 additions & 0 deletions eagleye_util/gnss_converter/src/gnss_converter_node.cpp
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Expand Up @@ -2,6 +2,7 @@
#include "rclcpp/rclcpp.hpp"
#include "gnss_converter/nmea2fix.hpp"
#include <ublox_msgs/msg/nav_pvt.hpp>
#include <septentrio_gnss_driver/msg/pvt_geodetic.hpp>
#include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
#include "eagleye_coordinate/eagleye_coordinate.hpp"
#include "eagleye_navigation/eagleye_navigation.hpp"
Expand Down Expand Up @@ -82,6 +83,36 @@ void navpvt_callback(const ublox_msgs::msg::NavPVT::ConstSharedPtr msg)
rtklib_nav_pub->publish(r);
}

void pvtgeodetic_callback(const septentrio_gnss_driver::msg::PVTGeodetic::ConstSharedPtr msg)
{
rtklib_msgs::msg::RtklibNav r;
r.header.frame_id = "gps";
r.header.stamp = msg->header.stamp;
if (nav_msg_ptr != nullptr)
r.status = *nav_msg_ptr;
r.tow = msg->block_header.tow;

double llh[3];
llh[0] = msg->latitude;
llh[1] = msg->longitude;
llh[2] = msg->height;
double ecef_pos[3];
llh2xyz(llh, ecef_pos);

double enu_vel[3] = {msg->ve, msg->vn, msg->vu};
double ecef_vel[3];
enu2xyz_vel(enu_vel, ecef_pos, ecef_vel);

r.ecef_pos.x = ecef_pos[0];
r.ecef_pos.y = ecef_pos[1];
r.ecef_pos.z = ecef_pos[2];
r.ecef_vel.x = ecef_vel[0];
r.ecef_vel.y = ecef_vel[1];
r.ecef_vel.z = ecef_vel[2];

rtklib_nav_pub->publish(r);
}

void gnss_velocity_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr msg)
{
if (nav_msg_ptr == nullptr) return;
Expand Down Expand Up @@ -127,6 +158,7 @@ int main(int argc, char** argv)
rclcpp::Subscription<nmea_msgs::msg::Sentence>::SharedPtr nmea_sentence_sub;
rclcpp::Subscription<ublox_msgs::msg::NavPVT>::SharedPtr navpvt_sub;
rclcpp::Subscription<geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr gnss_velocity_sub;
rclcpp::Subscription<septentrio_gnss_driver::msg::PVTGeodetic>::SharedPtr pvtgeodetic_sub;
rclcpp::Subscription<sensor_msgs::msg::NavSatFix>::SharedPtr navsatfix_sub;

node->declare_parameter("gnss.velocity_source_type",velocity_source_type);
Expand Down Expand Up @@ -160,6 +192,11 @@ int main(int argc, char** argv)
gnss_velocity_sub = node->create_subscription<geometry_msgs::msg::TwistWithCovarianceStamped>(
velocity_source_topic, 1000, gnss_velocity_callback);
}
else if(velocity_source_type == 4)
{
pvtgeodetic_sub = node->create_subscription<septentrio_gnss_driver::msg::PVTGeodetic>(
velocity_source_topic, 1000, pvtgeodetic_callback);
}
else
{
RCLCPP_ERROR(node->get_logger(),"Invalid velocity_source_type");
Expand Down