Add miss fix detection in eagleye

tier4 · Nov 28, 2023 · 0eb8a8d · 0eb8a8d
1 parent c6cb930
commit 0eb8a8d
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Showing 2 changed files with 8 additions and 1 deletion.
diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml
@@ -136,6 +136,12 @@
         <param from="$(var eagleye_param_path)"/>
         <param name="yaml_file" value="$(var eagleye_param_path)"/>
       </node>
+      <node pkg="eagleye_rt" name="rtkfix_plane_validation" exec="rtkfix_plane_validation">
+            <param from="$(var eagleye_param_path)"/>
+            <param name="yaml_file" value="$(var eagleye_param_path)"/>
+            <remap from="gnss/fix" to="/sensing/gnss/septentrio/nav_sat_fix"/>
+            <remap from="gnss/reliable_rtkfix" to="/sensing/gnss/septentrio/reliable_nav_sat_fix"/>
+      </node>
     </group>
 
     <node pkg="eagleye_rt" name="monitor" exec="monitor">

diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/fix2pose.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/fix2pose.launch.xml
@@ -3,7 +3,8 @@
   <arg name="output_pose_with_cov_name" default="/localization/pose_estimator/pose_with_covariance"/>
   <node pkg="eagleye_fix2pose" name="fix2pose_node" exec="fix2pose">
     <!-- /eagleye/fix or  /GNSS/fix(GNSS pose only mode)-->
-    <remap from="eagleye/fix" to="/sensing/gnss/septentrio/nav_sat_fix"/>
+    <!-- <remap from="eagleye/fix" to="/sensing/gnss/septentrio/nav_sat_fix"/> -->
+    <remap from="eagleye/fix" to="/sensing/gnss/septentrio/reliable_nav_sat_fix"/>
     <remap from="eagleye/pose_with_covariance" to="$(var output_pose_with_cov_name)"/>
     <!-- plane rectangular coordinate number -->
     <param name="plane" value="7"/>