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Updated ROS topic documentation
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Facundo Garcia committed Jan 23, 2024
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Expand Up @@ -146,20 +146,19 @@ The output is published on the following:

#### Vision-RTK2 Fusion

- From ODOMETRY, at the configured frequency
- From **FP_A-ODOMETRY**, at the configured frequency (default 10Hz, output generator -> Fusion 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 |
| `/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. |

- From LLH, at the configured frequency
- From **FP_A-LLH**, at the configured frequency (default 10Hz, output generator -> Fusion frequency):

| Topic | Message Type | Frequency | Description |
| ------------------------ | ----------------------- | ------------------------------ | ------------------------------ |
Expand All @@ -169,33 +168,39 @@ The output is published on the following:

**If GNSS Antenna positions are needed, please enable this on the sensor's configuration interface.**

- From NOV_B-BESTGNSSPOS, at the configured frequency, GNSS1 and GNSS2 raw antenna positions.
- From **NOV_B-BESTGNSSPOS_GNSS[1,2]**, at the configured frequency, GNSS1 and GNSS2 raw antenna positions (default 5Hz):

| Topic | Message Type | Frequency | Description |
| -------------------- | ----------------------- | ------------------------------ | ------------------------------ |
| `/fixposition/gnss1` | `sensor_msgs/NavSatFix` | as configured on web-interface | Latitude, Longitude and Height |
| `/fixposition/gnss2` | `sensor_msgs/NavSatFix` | as configured on web-interface | Latitude, Longitude and Height |

- The Vision-RTK2 can also output an average GNSS-based LLH position (i.e., **only GNSS, not Fusion**) and heading estimate based on speed over ground (SOG) and course over ground (COG) - (i.e., **the platform must be moving for it to be accurate**) by utilizing several NMEA messages, which serves as an auxiliary output until Fusion is fully initialized. To do this, enable the NMEA-GP-GGA_GNSS, NMEA-GP-RMC_GNSS, and NMEA-GP-ZDA_GNSS messages. This message's output frequency equals the lowest frequency of any of these three message types. **Note: This output should only be used until Fusion is fully initialized.**
- From **NMEA-GP-GGA_GNSS**, **NMEA-GP-RMC_GNSS**, and **NMEA-GP-ZDA_GNSS**, at the configured frequency (default 5Hz): The Vision-RTK2 can also output an average GNSS-based LLH position (i.e., **only GNSS, not Fusion**) and heading estimate based on speed over ground (**SOG**) and course over ground (**COG**) - (i.e., **the platform must be moving for it to be accurate**) by utilizing several NMEA messages, which serves as an auxiliary output until Fusion is fully initialized. This message's output frequency equals the lowest frequency of any of these three message types. **Note: This output should only be used until Fusion is fully initialized.**

| Topic | Message Type | Frequency | Description |
| -------------------- | ----------------------- | ------------------------------ | ------------------------------ |
| `/fixposition/nmea` | `fixposition_driver/NMEA` | as configured on web-interface | Latitude, Longitude and Height |

#### Vision-RTK2 IMU data

- From RAWIMU, at 200Hz
- From **FP_A-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 **FP_A-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 |

- From **FP_A-TF_POIIMUH**, at 200Hz:

| Topic | Message Type | Frequency | Description |
| ------------------------ | ----------------------- | ------------------------------ | ------------------------------ |
| `/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. |

#### Transforms

- TFs:
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