Skip to content

support eagleye_rt use doppler vel #13

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
Open

support eagleye_rt use doppler vel #13

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
19 changes: 12 additions & 7 deletions rtklib_bridge/launch/rtklib_bridge.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,11 +1,16 @@
<?xml version="1.0" encoding="UTF-8"?>

<launch>

<param name="ip_adress" value="127.0.0.1"/>
<param name="port" value="61111"/>
<param name="altitude_estimate" value="false"/>
<arg name="pub_vel_topic_name" default="/rtklib_nav_doppler"/>
<arg name="address" default="127.0.0.1"/>
<arg name="port_num" default="61112"/>
<arg name="est_alt" default="false"/>

<!-- When outputting on ellipsoidal height (WGS 84) = false ,When outputting in altitude = true -->
<node pkg="rtklib_bridge" name="rtklib_bridge" type="rtklib_bridge" respawn="true"/>

<node pkg="rtklib_bridge" name="rtklib_bridge" type="rtklib_bridge" respawn="true">
<param name="pub_vel_topic" value="$(arg pub_vel_topic_name)"/>
<param name="ip_adress" value="$(arg address)"/>
<param name="port" value="$(arg port_num)"/>
<param name="altitude_estimate" value="$(arg est_alt)"/>
</node>
</launch>

12 changes: 8 additions & 4 deletions rtklib_bridge/src/rtklib_bridge.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,11 @@ int main(int argc, char** argv)
{
ros::init(argc, argv, "rtklib_bridge");
ros::NodeHandle n;
ros::Publisher pub1 = n.advertise<rtklib_msgs::RtklibNav>("rtklib_nav", 1);

std::string pub_vel_topic_;
n.param("/rtklib_bridge/pub_vel_topic", pub_vel_topic_, std::string("rtklib_nav_doppler"));

ros::Publisher pub1 = n.advertise<rtklib_msgs::RtklibNav>(pub_vel_topic_, 1);
ros::Publisher pub2 = n.advertise<sensor_msgs::NavSatFix>("rtklib/fix", 1000);

rtklib_msgs::RtklibNav rtklib_nav;
Expand All @@ -56,9 +60,9 @@ int main(int argc, char** argv)
std::string ip_adress = "127.0.0.1";
int port = 61111;
bool altitude_estimate = true;
n.getParam("ip_adress", ip_adress);
n.getParam("port", port);
n.getParam("altitude_estimate", altitude_estimate);
n.getParam("/rtklib_bridge/ip_adress", ip_adress);
n.getParam("/rtklib_bridge/port", port);
n.getParam("/rtklib_bridge/altitude_estimate", altitude_estimate);

std::cout << "ip_adress " << ip_adress << std::endl;
std::cout << "port "<< port <<std::endl;
Expand Down