From 77f9e0f5d86776e13645136b202640fcfe6d6d1c Mon Sep 17 00:00:00 2001 From: Facundo Garcia Date: Tue, 23 Jan 2024 10:17:12 +0100 Subject: [PATCH] Updated ROS topic documentation --- README.md | 21 +++++++++++++-------- 1 file changed, 13 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index 34c7daf..f9dce85 100644 --- a/README.md +++ b/README.md @@ -146,7 +146,7 @@ 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 @@ -154,12 +154,11 @@ The output is published on the following: | --------------------------- | ------------------------- | ------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `/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 | | ------------------------ | ----------------------- | ------------------------------ | ------------------------------ | @@ -169,14 +168,14 @@ 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 | | -------------------- | ----------------------- | ------------------------------ | ------------------------------ | @@ -184,18 +183,24 @@ The output is published on the following: #### 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: