Pose is publishd

MapIV · Jun 6, 2022 · a49d5b1 · a49d5b1
1 parent c848a07
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Showing 4 changed files with 173 additions and 4 deletions.
diff --git a/gnss_compass/rviz/rviz.rviz b/gnss_compass/rviz/rviz.rviz
@@ -0,0 +1,169 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Odometry1
+      Splitter Ratio: 0.642276406288147
+    Tree Height: 510
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+  - Class: autoware_rviz_debug/DecisionMakerPanel
+    Name: DecisionMakerPanel
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.10000000149011612
+      Class: rviz/Pose
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.30000001192092896
+      Head Radius: 0.10000000149011612
+      Name: Pose
+      Shaft Length: 1
+      Shaft Radius: 0.05000000074505806
+      Shape: Arrow
+      Topic: /gnss_compass_pose
+      Unreliable: false
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 1000000
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic: /gnss_compass_odom
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Angle: 0
+      Class: rviz/TopDownOrtho
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Scale: 25.72109031677246
+      Target Frame: map
+      Value: TopDownOrtho (rviz)
+      X: 79199.078125
+      Y: 92118.3671875
+    Saved: ~
+Window Geometry:
+  DecisionMakerPanel:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 759
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001800000023bfc020000000ffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003d0000023b000000c900fffffffa000000020100000003fb0000000a0049006d0061006700650000000000ffffffff0000000000000000fb0000000c00430061006d0065007200610000000000ffffffff0000000000000000fb000000100044006900730070006c0061007900730100000000000001360000015600fffffffb0000000a0049006d006100670065010000028e000000d20000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000120049006d006100670065005f0072006100770000000000ffffffff0000000000000000fb0000000c00430061006d006500720061000000024e000001710000000000000000fb000000120049006d00610067006500200052006100770100000421000000160000000000000000fb0000000a0049006d00610067006501000002f4000000cb0000000000000000fb0000000a0049006d006100670065010000056c0000026c0000000000000000fb00000024004400650063006900730069006f006e004d0061006b0065007200500061006e0065006c00000002110000018f0000006e00ffffff00000001000001250000023bfc0200000003fb0000000a00560069006500770073010000003d0000023b000000a400fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000073f000000a8fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000056d0000005cfc0100000002fb0000000800540069006d006501000000000000056d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002bc0000023b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1389
+  X: 469
+  Y: 166
diff --git a/gnss_compass/src/gnss_compass_core.cpp b/gnss_compass/src/gnss_compass_core.cpp
@@ -32,7 +32,7 @@ void GnssCompass::callbackSubGga(const nmea_msgs::Gpgga::ConstPtr & subgga_msg_p
     return;
   }
 
-  if(maingga_msg_ptr_->header.stamp.toSec() - subgga_msg_ptr->header.stamp.toSec() < 0.05) {
+  if(maingga_msg_ptr_->header.stamp.toSec() - subgga_msg_ptr->header.stamp.toSec() > 0.05) {
     ROS_WARN("The difference between the main and sub timestamps is too large.");
     return;
   }

diff --git a/launch/nmea2fix.launch b/launch/nmea2fix.launch
@@ -7,12 +7,11 @@
   <arg name="pub_gga_topic_name1" default="/main/mosaic/gga"/>
   <arg name="output_gga" default="true"/>
 
-  <param name="output_gga" value="$(arg output_gga)"/>
-
   <node pkg="nmea2fix" name="nmea2fix_node1" type="nmea2fix_node">
     <param name="sub_topic_name" value="$(arg sub_topic_name1)"/>
     <param name="pub_fix_topic_name" value="$(arg pub_fix_topic_name1)"/>
     <param name="pub_gga_topic_name" value="$(arg pub_gga_topic_name1)"/>
+    <param name="output_gga" value="$(arg output_gga)"/>
   </node>
 
   <arg name="sub_topic_name2" default="/sub/mosaic/nmea_sentence"/>
@@ -23,6 +22,7 @@
     <param name="sub_topic_name" value="$(arg sub_topic_name2)"/>
     <param name="pub_fix_topic_name" value="$(arg pub_fix_topic_name2)"/>
     <param name="pub_gga_topic_name" value="$(arg pub_gga_topic_name2)"/>
+    <param name="output_gga" value="$(arg output_gga)"/>
   </node>
 
 </launch>
diff --git a/util/nmea2fix b/util/nmea2fix
-Original file line number
+Diff line change
@@ Expand Up @@
         return;
       }
-      if(maingga_msg_ptr_->header.stamp.toSec() - subgga_msg_ptr->header.stamp.toSec() < 0.05) {
+      if(maingga_msg_ptr_->header.stamp.toSec() - subgga_msg_ptr->header.stamp.toSec() > 0.05) {
         ROS_WARN("The difference between the main and sub timestamps is too large.");
         return;
       }
@@ Expand Down @@