use septentrio driver for gnss

tier4 · Sep 9, 2024 · b5ef1ef · b5ef1ef
1 parent 447f326
commit b5ef1ef
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Showing 3 changed files with 91 additions and 1 deletion.
diff --git a/aip_xx1_gen2_launch/config/mosaic_x5_rover.param.yaml b/aip_xx1_gen2_launch/config/mosaic_x5_rover.param.yaml
@@ -0,0 +1,82 @@
+/**:
+  ros__parameters:
+    device: tcp://192.168.20.102:28784
+
+    frame_id: gnss_link
+    aux1_frame_id: aux1
+    get_spatial_config_from_tf: false
+    use_ros_axis_orientation: false
+    receiver_type: gnss
+    multi_antenna: false
+
+    datum: Default
+
+    att_offset:
+      heading: 0.0
+      pitch: 0.0
+
+    ant_type: Unknown
+    ant_serial_nr: Unknown
+    ant_aux1_type: Unknown
+    ant_aux1_serial_nr: Unknown
+
+    polling_period:
+      pvt: 200
+      rest: 200
+
+    use_gnss_time: false
+
+    rtk_settings:
+      ntrip_1:
+        id: ""
+        caster: ""
+        caster_port: 2101
+        username: ""
+        password: ""
+        mountpoint: ""
+        version: "v2"
+        tls: false
+        fingerprint: ""
+        rtk_standard: "auto"
+        send_gga: "auto"
+        keep_open: true
+      ip_server_1:
+        id: "IPS1"
+        port: 28785
+        rtk_standard: "RTCMv3"
+        send_gga: "auto"
+        keep_open: true
+      serial_1:
+        port: ""
+        baud_rate: 115200
+        rtk_standard: "auto"
+        send_gga: "auto"
+        keep_open: true
+
+    publish:
+      # For both GNSS and INS Rxs
+      navsatfix: true
+      gpsfix: false
+      gpgga: false
+      gprmc: false
+      gpst: false
+      measepoch: false
+      pvtcartesian: false
+      pvtgeodetic: true
+      basevectorcart: false
+      basevectorgeod: false
+      poscovcartesian: false
+      poscovgeodetic: true
+      velcovgeodetic: false
+      atteuler: false
+      attcoveuler: false
+      pose: false
+      twist: false
+      diagnostics: true
+      # For GNSS Rx only
+      gpgsa: false
+      gpgsv: false
+
+    # logger
+
+    activate_debug_log: false
diff --git a/aip_xx1_gen2_launch/launch/gnss.launch.xml b/aip_xx1_gen2_launch/launch/gnss.launch.xml
@@ -22,7 +22,12 @@
 
     <!-- Septentrio GNSS Driver -->
     <group if="$(eval &quot;'$(var launch_driver)' and '$(var gnss_receiver)'=='septentrio'&quot;)">
-      <include file="$(find-pkg-share septentrio_gnss_driver)/launch/mosaic_x5_rover.launch.xml" />
+      <node pkg="septentrio_gnss_driver" name="septentrio" exec="septentrio_gnss_driver_node" if="$(var launch_driver)">
+        <param from="$(find-pkg-share aip_xx1_gen2_launch)/config/mosaic_x5_rover.param.yaml"/>
+        <remap from="navsatfix" to="~/nav_sat_fix"/>
+        <remap from="poscovgeodetic" to="~/poscovgeodetic"/>
+        <remap from="pvtgeodetic" to="~/pvtgeodetic"/>
+      </node>
     </group>
 
     <!-- NavSatFix to MGRS Pose -->

diff --git a/aip_xx1_gen2_launch/launch/sensing.launch.xml b/aip_xx1_gen2_launch/launch/sensing.launch.xml
@@ -23,16 +23,19 @@
     <!-- IMU Driver -->
     <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/imu.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
+      <arg name="imu_connection" value="can" />
     </include>
 
     <!-- GNSS Driver -->
     <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/gnss.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
+      <arg name="gnss_receiver" value="septentrio"/>
     </include>
 
     <!-- Radar Driver -->
     <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/radar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
+      <arg name="ars_version" value="ars548" />
     </include>
 
     <!-- Vehicle twist -->