gavlab / novatel Goto Github PK

msg buffer length > sizeof(output_struct)

possibly problem iterating over the struct incorrectly. shows fewer L2 obs than the MOOS app shows, and L1 obs are clearly wrong (PSR way too low).

Branch merge_into_master contains the merge of changes made by Will/David on master branch and changes made by Chris and Robert on real_merge branch. It compiles, but needs to be tested before pulling into master to make sure nothing got broken in the merge.

Most applications need to build a data base, and this doesn't happen immediately if ONNEW/ONCHANGED is selected. No ephems are obtained until an SV drops in/out. ONTIME gets obnoxious and ties up bandwidth because rarely will those messages be useful. we should have a one-off blast of everything it sees on init then rever to ONCHANGED.

I got 1.58 and when I run the make in the novatel directory, I get errors about the following Boost libraries not found:

boost_system
boost_filesystem
boost_thread

Asking for an L1L2Range message requires also asking for BestUTM and PsrPos.

Getting an RTK and/or PSR solution should be very clear and straightforward. This next push to master will fix the problem of just getting a NavSatFix message for PSRPOS, but we need to clean the whole thing up.

The simple NavSatFix "/gps_fix" topic doesn't output anything right now. It should be derived from BestPos.

Hi! Just curious if this repo is still under maintenance?

I noticed that novatel_node.cpp uses tf::createQuaternionMsgFromRollPitchYaw to handle attitude angle roll/pitch/azimuth. tf::createQuaternionMsgFromRollPitchYaw assumes roll is around x and pitch around y. However, according to novatel manuals, in e.g. the PVA log, roll is around y and pitch around x. Azimuth is around z but left-hand rotated. So suggested to change the code to

Eigen::Quaterniond quat(Eigen::AngleAxisd(-ins_pva.azimuth * degrees_to_radians, Eigen::Vector3d::UnitZ()) *
                            Eigen::AngleAxisd(ins_pva.pitch * degrees_to_radians, Eigen::Vector3d::UnitX()) * 
                            Eigen::AngleAxisd(ins_pva.roll * degrees_to_radians, Eigen::Vector3d::UnitY()));
tf::quaternionEigenToMsg(quat, cur_odom_.pose.pose.orientation);

It says that master is deprecated so which branch is the right one to use?