GQ7 Odom Localization
Contents
Overview
This launch file will launch an instance of the microstrain_inertial_driver connected to a GQ7 that can be used alongside robot_localization or some other form of local frame localization.
Usage
To launch this launch file directly from the command line:
roslaunch microstrain_inertial_localization gq7_odom.launch
To include this launch file into another launch file. Paste this into the <launch> section of your launch file:
<include file="$(find microstrain_inertial_localization)/launch/gq7_odom.launch"> <!-- Include any arguments you want to override here --> </include>
Arguments
This launch file can accept the following arguments.
Connection Info
Configuration related to device connection, ports and baudrate
port
Default: /dev/microstrain_main
Documentation: Serial port that the GQ7 is connected on
baudrate
Default: 115200
Documentation: Baudrate of the serial port that the GQ7 is connected on
aux_port
Default: /dev/microstrain_aux
Documentation: Serial port that the GQ7 aux port is connected on. Only used if ntrip is true
aux_baudrate
Default: 115200
Documentation: Baudrate of the serial port that the GQ7 aux port is connected on. Only used if ntrip is true
Frame Configuration
Configuration related to what frames will be used when constructing the tf tree
frame_id
Default: gq7_link
Documentation: The frame ID that will represent the GQ7 in the tf tree
map_frame_id
Default: map
Documentation: The frame ID of the local tangent plane
odom_frame_id
Default: odom
Documentation: The frame ID that you want to globally localize.
gnss1_frame_id
Default: gnss_1_antenna_link
Documentation: The frame ID that will represent GNSS antenna 1 in the tf tree
gnss2_frame_id
Default: gnss_2_antenna_link
Documentation: The frame ID that will represent GNSS antenna 2 in the tf tree
Tangent Plane Configuration
Configuration relevant to the location of the tangent plane. See the params.yml for more information.
filter_relative_position_frame
Default: 2
Documentation: Relative position frame selector
filter_relative_position_source
Default: 2
Documentation: Relataive position source selector
filter_relative_position_ref
Default: [0.0, 0.0, 0.01]
Documentation: Reference position. Units dictated by filter_relative_position_frame
GNSS Antenna offset configuration
Configuration about how GNSS antenna offsets will be configured. See the params.yml for more information.
gnss1_antenna_offset_source
Default: 1
Documentation: GNSS1 antenna offset source selector
gnss1_antenna_offset
Default: [0.0, 0.7, 0.0]
Documentation: GNSS1 antenna offset. Only used if gnss1_antenna_offset_source is set to 1
gnss2_antenna_offset_source
Default: 1
Documentation: GNSS1 antenna offset source selector
gnss2_antenna_offset
Default: [0.0, -0.7, 0.0]
Documentation: GNSS1 antenna offset. Only used if gnss1_antenna_offset_source is set to 1
Heading Settings
Configuration about how the GQ7 will obtain it's heading. See the params.yml for more information
filter_auto_heading_alignment_selector
Default: 1
Documentation: Filter initialization auto-heading alignment selector
NTRIP Settings
Settings related to the optional NTRIP client that this launch file can start if requested. For more information, see ntrip_client
ntrip
Default: false
Documentation: Whether or not to enable the NTRIP interface on the microstrain driver and run an NTRIP client
ntrip_host
Default: 20.185.11.35
Documentation: The host name or IP of the NTRIP caster you want to connect to
ntrip_port
Default: 2101
Documentation: The port of the NTRIP caster you want to connect to
ntrip_mountpoint
Default: VRS_RTCM3
Documentation: The mountpoint on the NTRIP caster you want to connec to
ntrip_username
Default: user
Documentation: Username to use to authenticate with the NTRIP caster
ntrip_password
Default: pass
Documentation: Password to use to authenticate with the NTRIP caster
ntrip_ssl
Default: false
Documentation: Whether or not to connect using SSL to the NTRIP caster
Robot Localization Settings
Settings related to how we will integrate with robot_localization.
robot_localization
Default: false
Documentation: Whether we should run our own ekf_localization node
robot_localization_name
Default: ekf_localization
Documentation: Name of either our node or already running robot_localization node
robot_localization_imu_name
Default: imu0
Documentation: Sensor name for the IMU data in robot_localization
Mock Robot Settings
Settings related to whether we will launch a mock robot description node. This should be used for testing purposes only
mock_robot
Default: false
Documentation: Whether we should run a simple description containing a mock robot for testing purposes
Additional Parameters
Settings that allow users to add additional parameters to the nodes that are not exposed in the launch file
params_file
Default:
Documentation: Path to file that contains additional parameters not exposed here
