eagleye_rt

eagleye_rt

How to run

Eagleye RT parameters

The parameters of eagleye_rt can be set in the eagleye_config.yaml. The default settings are 5Hz for GNSS and 50Hz for IMU.

The TF between sensors can be set in sensors_tf.yaml. The settings are reflected by describing the positional relationship of each sensor with respect to base_link. If you want to change the base frame, change basic_parent_frame to reflect the change.

Running real-time operation

1. Start each sensor driver

2. Start eagleye.

    roslaunch eagleye_rt eagleye_rt.launch
   

Use sample data

1. Play the sample data.

    rosparam set use_sim_time true
    rosbag play --clock eagleye_sample.bag
   

2. Launch eagleye.

    roslaunch eagleye_rt eagleye_rt.launch
   

The estimated results will be output about 100 seconds after playing the rosbag. This is because we need to wait for the data to accumulate for estimation.

Node

Subscribed Topics

• /nmea_sentence (nmea_msgs/Sentence)

• /can_twist (geometry_msgs/TwistStamped)

• /rtklib_nav (rtklib_msgs/RtklibNav)

• /imu/data_raw (sensor_msgs/Imu)

Main Published Topics

• /eagleye/fix (sensor_msgs/NavSatFix)

• /eagleye/twist (ngeometry_msgs/TwistStamped)

Note

To visualize the eagleye output location /eagleye/fix, for example, use the following command

roslaunch eagleye_fix2kml fix2kml.launch

To convert from eagleye/fix to eagleye/pose, use the following command　

roslaunch eagleye_fix2pose fix2pose.launch