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Commit e7ed8c7f authored by Goebel, Mona's avatar Goebel, Mona
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Update params.yml to gq7.yml

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# Standalone example params file for GX3, GX4, GX/CX5, RQ1 and GQ7 series devices
# Note: Feature support is device-dependent and some of the following settings may have no affect on your device.
# Please consult your device's documentation for supported features
# ******************************************************************
# NOTE: This file is formatted to work with ROS and will not work if specified as the params_file argument in ROS2.
# If you want to override parameters for ROS2, start with https://github.com/LORD-MicroStrain/microstrain_inertial/blob/ros2/microstrain_inertial_driver/config/empty.yml
# ******************************************************************
# ******************************************************************
# General Settings
# ******************************************************************
# port is the main port that the device will communicate over. For all devices except the GQ7, this is the only available port.
# aux_port is only available for the GQ7 and is only needed when streaming RTCM corrections to the device from ROS, or if you want to publish NMEA sentences from this node
port : "/dev/ttyACM0"
# You should change this section of config to match your setup
port : '/dev/microstrain_main'
baudrate : 115200
aux_port : "/dev/ttyACM1"
aux_baudrate : 115200
debug : False
# If set to true, this will configure the requested baudrate on the device for the main port.
# Note that this will be set on both USB and serial, but will only actually affect the baudrate of a serial connection.
set_baud : False
# Waits for a configurable amount of time until the device exists
# If poll_max_tries is set to -1 we will poll forever until the device exists
poll_port : False
poll_rate_hz : 1.0
poll_max_tries : 60
# Number of times to attempt to reconnect to the device if it disconnects while running
# If configure_after_reconnect is true, we will also reconfigure the device after we reconnect
#
# Note: It is strongly recommended to configure after reconnect unless device_setup is set to false
# as the device will likely initialize in a different state otherwise
reconnect_attempts : 0
configure_after_reconnect : True
# Controls if the driver-defined setup is sent to the device
# false - The driver will ignore the settings below and use the device's current settings
# true - Overwrite the current device settings with those listed below
device_setup : True
# Controls if the driver-defined settings are saved
# false - Do not save the settings
# true - Save the settings in the device's non-volatile memory
save_settings : False
# Controls if the driver creates a raw binary file
# false - Do not create the file
# true - Create the file
#
# Note: The filename will have the following format -
# model_number "_" serial_number "_" datetime (year_month_day_hour_minute_sec) ".bin"
# example: "3DM-GX5-45_6251.00001_20_12_01_01_01_01.bin"
# Note: This file is useful for getting support from the manufacturer
raw_file_enable : False
# (GQ7/CV7 only) Controls if the driver requests additional factory support data to be included in the raw data file
# false - Do not request the additional data
# true - Request the additional channels (please see notes below!)
#
# Note: We recommend only enabling this feature when specifically requested by Microstrain.
# Including this feature increases communication bandwidth requirements significantly...
# for serial data connections please ensure the baudrate is sufficient for the added data channels.
raw_file_include_support_data : True
# The directory to store the raw data file
raw_file_directory : "/home/your_name"
# ******************************************************************
# Frame ID Settings
# ******************************************************************
# The mode in which we will publish transforms to the below frame IDs
# 0 - No transforms will be published between any of the non static frame ids. (if publish_mount_to_frame_id_transform is true, it will still be published, and so will the antenna and odometer transforms)
# 1 - Global mode:
# Transform will be published from earth_frame_id to target_frame_id containing global position
# 2 - Relative mode:
# Note: In order to use relative mode, you must configure filter_relative_position
# Transform will be published from earth_frame_id to map_frame_id using relative position configuration
# Transform between map_frame_id and target_frame_id will be published using position information reported by the device
# for more information, see: https://wiki.ros.org/microstrain_inertial_driver/transforms
tf_mode : 0
# Frame ID that most header.frame_id fields will be populated with.
frame_id: "imu_link"
# Frame IDs determining the transforms published by this node to aid in navigation. See https://www.ros.org/reps/rep-0105.html
# Note: If use_enu_frame is false, these frames (with the exception of earth_frame_id) will automatically have "_ned" appended to them.
mount_frame_id : "base_link" # Frame ID that the device is mounted on.
map_frame_id : "map"
earth_frame_id : "earth"
gnss1_frame_id : "gnss_1_antenna_link"
gnss2_frame_id : "gnss_2_antenna_link"
odometer_frame_id : "odometer_link"
# Target frame ID to publish transform to. Note that there needs to be some path of transforms between this and frame_id
# If tf_mode is set to 1, a transform between earth_frame_id and target_frame_id will be published
# If tf_mode is set to 2, a transform between map_frame_id and target_frame_id will be published
target_frame_id : "base_link"
# Static transform between mount_frame_id and frame_id.
# Note: It is recommended to define this in a urdf file if you are building a robot, or are able to modify the robot's description.
publish_mount_to_frame_id_transform : True
mount_to_frame_id_transform : [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0] # [ x, y, z, qi, qj, qk, qw ]
# Controls if the driver outputs data with-respect-to ENU frame
# false - position, velocity, and orientation are WRT the NED frame (native device frame)
# true - position, velocity, and orientation are WRT the ENU frame
#
# Note: It is strongly recommended to leave this as True if you plan to integrate with other ROS tools
# Note: If this is set to false, all "*_frame_id" variables will have "_ned" appended to them by the driver.
# For more information, see: https://wiki.ros.org/microstrain_inertial_driver/use_enu_frame
# This will cause the node to convert any NED measurements to ENU
# This will also cause the node to convert any vehicle frame measurements to the ROS definition of a vehicle frame
use_enu_frame : True
# Configure some frame IDs
frame_id : 'gq7_link' # Frame ID of all of the filter messages. Represents the location of the CV7-INS in the tf tree
map_frame_id : "map" # Frame ID of the local tangent plane.
earth_frame_id : "earth" # Frame ID of the global frame
gnss1_frame_id : "gq7_gnss_1_antenna_link"
gnss2_frame_id : "gq7_gnss_2_antenna_link"
odometer_frame_id : "gq7_odometer_link"
target_frame_id : "base_link" # Frame ID that we will publish a transform to.
# Disable the transform from the mount to frame id transform as it will be handled in the launch file
publish_mount_to_frame_id_transform : False
# We will use relative transform mode, meaning that we will publish the following transforms from this node
# earth_frame_id -> map_frame_id
# map_frame_id -> target_frame_id
# This helps ROS standard tools consume and display position information produced by the device
tf_mode: 2
# Enable the RTK dongle interface for communication with the 3DM-RTK.
# Note: Even if you do not have a 3DM-RTK connected to the aux port, this boolean can remain true
rtk_dongle_enable : True
# ******************************************************************
# GNSS Settings (only applicable for devices with GNSS)
# ******************************************************************
# We will use base station relative position configuration for this example. This configuration does a couple things:
# We will setup a local tangent plane at the location of the RTK base station being used by the GQ7.
# We will publish this location as the transform from the earth_frame_id to map_frame_id frame
# Note: This configuration requires a 3DM-RTK to be connected to the aux port of the GQ7.
# If you do not have that device, see https://wiki.ros.org/microstrain_inertial_driver/relative_position_configuration for more options.
filter_relative_position_config : True
filter_relative_position_source : 2
# Antenna #1 lever arm offset source
# 0 - Disabled: We will not configure the antenna offset, or publish it as a transform
# 1 - Manual: We will use the provided vector to configure the device, and publish it as the transform between frame_id and gnss1_frame_id
# 2 - Transform: We will lookup the transform between frame_id and gnss1_frame_id and use it to configure the device. We will ignore gns1_antenna_offset
# Antenna #1 lever arm offset vector
# For GQ7 - in the vehicle frame wrt IMU origin (meters)
# For all other models - in the IMU frame wrt IMU origin (meters)
# Note: Make this as accurate as possible for good performance
gnss1_antenna_offset_source : 1
# Set the antenna offsets.
# Note: These should be changed for you setup, otherwise dual antenna heading will not initialize.
gnss1_antenna_offset : [0.0, -0.7, -1.0]
# ******************************************************************
# GNSS2 Settings (only applicable for multi-GNSS systems (e.g. GQ7) )
# ******************************************************************
# Antenna #2 lever arm offset source
# 0 - Disabled: We will not configure the antenna offset, or publish it as a transform
# 1 - Manual: We will use the provided vector to configure the device, and publish it as the transform between frame_id and gnss2_frame_id
# 2 - Transform: We will lookup the transform between frame_id and gnss2_frame_id and use it to configure the device. We will ignore gns2_antenna_offset
# Antenna #2 lever arm offset vector
# For GQ7 - in the vehicle frame wrt IMU origin (meters)
# For all other models - in the IMU frame wrt IMU origin (meters)
# Note: Make this as accurate as possible for good performance
gnss2_antenna_offset_source : 1
gnss2_antenna_offset : [0.0, 0.7, -1.0]
# GNSS signal configuration
gnss_glonass_enable : False
gnss_galileo_enable : True
gnss_beidou_enable : False
# ******************************************************************
# RTK Settings (only applicable for devices with RTK support (e.g. GQ7) )
# ******************************************************************
# (GQ7 Only) Enable RTK dongle interface. This is required when using a 3DM-RTK
# Note: Enabling this will cause the node to publish mip/gnss_corrections/rtk_corrections_status
rtk_dongle_enable : True
# (GQ7 Only) Allow the node to receive RTCM messages on the /rtcm topic and publish NMEA sentences from the aux port on /nmea.
# It is suggested to use https://github.com/LORD-MicroStrain/ntrip_client with this interface
# Note: This will require the aux_port configuration to be valid and pointing to a valid aux port
ntrip_interface_enable : False
# ******************************************************************
# Kalman Filter Settings (only applicable for devices with a Kalman Filter)
# ******************************************************************
# (GQ7/CV7 only) Aiding measurement control
filter_enable_gnss_pos_vel_aiding : True
filter_enable_gnss_heading_aiding : True
filter_enable_altimeter_aiding : False
filter_enable_odometer_aiding : False
filter_enable_magnetometer_aiding : False
filter_enable_external_heading_aiding : False
# (GQ7 only) Filter Initialization control
# Init Condition source =
# 0 - auto pos, vel, attitude (default)
# 1 - auto pos, vel, roll, pitch, manual heading
# 2 - auto pos, vel, manual attitude
# 3 - manual pos, vel, attitude
#
# Auto-Heading alignment selector (note this is a bitfield, you can use more than 1 source) =
# Bit 0 - Dual-antenna GNSS
# Bit 1 - GNSS kinematic (requires motion, e.g. a GNSS velocity)
# Bit 2 - Magnetometer
# Bit 3 - External Heading (first valid external heading will be used to initialize the filter)
#
# Reference frame =
# 1 - WGS84 Earth-fixed, earth centered (ECEF) position, velocity, attitude
# 2 - WGS84 Latitude, Longitude, height above ellipsoid position, NED velocity and attitude
filter_init_condition_src : 0
# This will set the heading alignment to be dual antenna
filter_auto_heading_alignment_selector : 1
filter_init_reference_frame : 2
filter_init_position : [0.0, 0.0, 0.0]
filter_init_velocity : [0.0, 0.0, 0.0]
filter_init_attitude : [0.0, 0.0, 0.0]
# (GQ7 only) Relative Position Configuration
# Reference frame =
# 1 - Relative ECEF position
# 2 - Relative LLH position
#
# Source =
# 0 - Position will be reported relative to the base station. filter_relative_position_ref will be ignored
# 1 - Position will be reported relative to filter_relative_position_ref
# 2 - Position will be reported relative to the first position reported by the device after it enters full nav. filter_relative_position_ref will be ignored
# 3 - We will wait for a transform to be made available between earth_frame_id and map_frame_id and use that as the relative position reference. filter_relative_position_ref will be ignored
#
# Reference position - Units provided by reference frame (ECEF - meters, LLH - deg, deg, meters)
# Note: The source selected here will determine the transform published between earth_frame_id and map_frame_id when running in relative transform mode
# For more information, see: https://wiki.ros.org/microstrain_inertial_driver/relative_position_configuration
filter_relative_position_config : False
filter_relative_position_frame : 2
filter_relative_position_source : 2
filter_relative_position_ref : [0.0, 0.0, 0.01]
# (GQ7 Only) Reference point lever arm offset control.
# Note: This offset will affect the position and velocity measurements in the following topics: nav/odometry, nav/relative_pos/odometry
# Note: This offset is in the vehicle reference frame.
# Note: This can cause strange behavior when also using the ROS transform tree.
# It is recommended to not use this if you want to use the ROS transform tree unless you really know what you are doing
filter_lever_arm_offset: [0.0, 0.0, 0.0]
# (GQ7 only) Wheeled Vehicle Constraint Control
# Note: When enabled, the filter uses the assumption that velocity is constrained to the primary vehicle axis.
# By convention, the primary vehicle axis is the vehicle X-axis
filter_enable_wheeled_vehicle_constraint : False
# (GQ7 only) Vertical Gyro Constraint Control
# Note: When enabled and no valid GNSS measurements are available, the filter uses the accelerometers to track
# pitch and roll under the assumption that the sensor platform is not undergoing linear acceleration.
# This constraint is useful to maintain accurate pitch and roll during GNSS signal outages.
filter_enable_vertical_gyro_constraint : False
# (GQ7 only) GNSS Antenna Calibration Control
# When enabled, the filter will enable lever arm error tracking, up to the maximum offset specified in meters.
# This allows the filter to compensate for antenna offsets when they are incorrect.
filter_enable_gnss_antenna_cal : True
filter_gnss_antenna_cal_max_offset : 0.1
# (GQ7/CV7 only) PPS Source
# PPS Source =
# 0 - Disabled
# 1 - Reciever 1 (default)
# 2 - Reciever 2
# 3 - GPIO (provided by external source if supported). Use the GPIO config above to further configure
# 4 - Generated from system oscillator
filter_pps_source : 1
# Sensor2vehicle frame transformation selector
# 0 = None
# 1 = Euler Angles
# 2 = matrix
# 3 = quaternion
# Note: These are different ways of setting the same parameter in the device.
# The different options are provided as a convenience.
# Support for matrix and quaternion options is firmware version dependent (GQ7 supports Quaternion as of firmware 1.0.07)
# Quaternion order is [i, j, k, w]
# Note: This can cause strange behavior when also using the ROS transform tree.
# It is recommended to not use this if you want to use the ROS transform tree unless you really know what you are doing
filter_sensor2vehicle_frame_selector : 1
filter_sensor2vehicle_frame_transformation_euler : [0.0, 0.0, 0.0]
filter_sensor2vehicle_frame_transformation_matrix : [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
filter_sensor2vehicle_frame_transformation_quaternion : [0.0, 0.0, 0.0, 1.0]
# Controls if the Kalman filter will auto-init or requires manual initialization
filter_auto_init : True
# Controls if the Kalman filter is reset after the settings are configured
filter_reset_after_config : True
# (All, except -10, and -15 products) Declination Source 1 = None, 2 = magnetic model, 3 = manual
# Note: When using a CV7, this MUST be changed to either 1, or 3 or the node will not start
filter_declination_source : 2
filter_declination : 0.23
# Controls what kind of linear acceleration data is used in the Filter IMU message.
# If this is set to true, the acceleration will not factor out gravity, if set to false gravity will be filtered out of the linear acceleration.
filter_use_compensated_accel : True
# (GQ7/CV7 full support, GX5-45 limited support) Adaptive filter settings
# Adaptive level: 0 - off, 1 - Conservative, 2 = Moderate (default), 3 = agressive
# Time limit: Max duration of measurement rejection prior to recovery, in milliseconds - default = 15000
filter_adaptive_level : 2
filter_adaptive_time_limit_ms : 15000
# External GPS Time Update Control
# Note: filter_external_gps_time_topic should publish at no more than 1 Hz.
# Note: gps_leap_seconds should be updated to reflect the current number of leap seconds.
filter_enable_external_gps_time_update : False
filter_external_gps_time_topic : "/external_gps_time"
gps_leap_seconds : 18.0
# (GQ7 only) Speed Lever Arm Configuration
# Lever Arm - In vehicle reference frame (meters)
filter_speed_lever_arm : [0.0, 0.5, -1.0]
# (All, except GQ7, CV7, -10, and -15 products) Heading Source 0 = None, 1 = magnetic, 2 = GNSS velocity (note: see manual for limitations)
# Note: For the GQ7, this setting has no effect. See filter_auto_heading_alignment_selector
# Note: When using a -10/-AR product. This MUST be set to 0 or the node will not start
filter_heading_source : 1
# (GX5 and previous,-45 models only) Dynamics Mode 1 = Portable (default), 2 = Automotive, 3 = Airborne (<2Gs), 4 = Airborne High G (<4Gs)
filter_dynamics_mode : 1
# ******************************************************************
# IMU Settings
# ******************************************************************
# Static IMU message covariance values (the device does not generate these)
imu_orientation_cov : [0.01, 0, 0, 0, 0.01, 0, 0, 0, 0.01]
imu_linear_cov : [0.01, 0, 0, 0, 0.01, 0, 0, 0, 0.01]
imu_angular_cov : [0.01, 0, 0, 0, 0.01, 0, 0, 0, 0.01]
imu_mag_cov : [0.01, 0, 0, 0, 0.01, 0, 0, 0, 0.01]
imu_pressure_variance : 0.01
# ******************************************************************
# Other Device Settings
# ******************************************************************
# (GQ7 Only) Hardware Odometer Control
enable_hardware_odometer : False
odometer_scaling : 0.0
odometer_uncertainty : 0.0
# (GQ7/CV7 only) GPIO Configuration
#
# For information on possible configurations and specific pin options refer to the MSCL MipNodeFeatures command, supportedGpioConfigurations.
#
# GQ7 GPIO Pins =
# 1 - GPIO1 (primary port pin 7) - Features = 0 - Unused, 1 - GPIO, 2 - PPS, 3 - Encoder
# 2 - GPIO2 (primary port pin 9) - Features = 0 - Unused, 1 - GPIO, 2 - PPS, 3 - Encoder
# 3 - GPIO3 (aux port pin 7) - Features = 0 - Unused, 1 - GPIO, 2 - PPS, 3 - Encoder
# 4 - GPIO4 (aux port pin 9) - Features = 0 - Unused, 1 - GPIO, 2 - PPS, 3 - Encoder
#
# CV7 GPIO Pins =
# 1 - GPIO1 (pin 7) - Features = 0 - Unused, 1 - GPIO, 2 - PPS
# 2 - GPIO2 (pin 9) - Features = 0 - Unused, 1 - GPIO, 2 - PPS
# 3 - GPIO3 (pin 6) - Features = 0 - Unused, 1 - GPIO, 2 - PPS
# 4 - GPIO4 (pin 10) - Features = 0 - Unused, 1 - GPIO, 2 - PPS
#
# Feature =
# 0 - Unused - Behaviors = 0 - unused
# 1 - GPIO - Behaviors = 0 - unused, 1 - input, 2 - output low, 3 - output high
# 2 - PPS - Behaviors = 0 - unused, 1 - input, 2 - output
# 3 - Encoder - Behaviors = 0 - unused, 1 - enc A, 2 - enc B
#
# GPIO Behavior =
# 0 - Unused
# 1 - Input
# 2 - Output Low
# 3 - Output High
#
# PPS Behavior =
# 0 - Unused
# 1 - Input
# 2 - Output
#
# Encoder Behavior =
# 0 - Unused
# 1 - Encoder A
# 2 - Encoder B
#
# Pin Mode Bitfield =
# 1 - open drain
# 2 - pulldown
# 4 - pullup
gpio_config : False
gpio1_feature : 0
gpio1_behavior : 0
gpio1_pin_mode : 0
gpio2_feature : 0
gpio2_behavior : 0
gpio2_pin_mode : 0
gpio3_feature : 0
gpio3_behavior : 0
gpio3_pin_mode : 0
gpio4_feature : 0
gpio4_behavior : 0
gpio4_pin_mode : 0
# (GQ7 only) SBAS options
sbas_enable: True
sbas_enable_ranging: False
sbas_enable_corrections: True
sbas_apply_integrity: False
# (GQ7 only) SBAS included PRNs
# Note: ROS2 can't handle empty arrays in a yml file, so uncomment this line and fill it in if you want to specify PRNs
#sbas_included_prns: []
# ******************************************************************
# Publisher Settings
# ******************************************************************
#
# Note: If set to 0, the data will not be stremaed from the device, and the publisher will not be created
# The speed at which the individual IMU publishers will publish at.
imu_data_rate : 100 # Rate of imu/data topic
imu_mag_data_rate : 0 # Rate of imu/mag topic
imu_pressure_data_rate : 0 # Rate of imu/pressure topic
imu_wheel_speed_data_rate : 0 # Rate of imu/wheel_Speed topic
# The speed at which the individual GNSS1 publishers will publish at.
gnss1_llh_position_data_rate : 2 # Rate of gnss_1/llh_position topic
gnss1_velocity_data_rate : 2 # Rate of gnss_1/velocity topic
gnss1_velocity_ecef_data_rate : 0 # Rate of gnss_1/velocity_ecef topic
# Note: gnss1_odometry_earth_data_rate depends on the contents of this message.
# If it is set to a higher value, this message will be published at that rate.
gnss1_odometry_earth_data_rate : 0 # Rate of gnss_1/odometry_earth topic
gnss1_time_data_rate : 0 # Rate of gnss_1/time topic
# The speed at which the individual GNSS2 publishers will publish at.
gnss2_llh_position_data_rate : 2 # Rate of gnss_2/llh_position topic
gnss2_velocity_data_rate : 2 # Rate of gnss_2/velocity topic
gnss2_velocity_ecef_data_rate : 0 # Rate of gnss_2/velocity_ecef topic
# Note: gnss2_odometry_earth_data_rate depends on the contents of this message.
# If it is set to a higher value, this message will be published at that rate.
gnss2_odometry_earth_data_rate : 0 # Rate of gnss_2/odometry_earth topic
gnss2_time_data_rate : 0 # Rate of gnss_2/time topic
# The speed at which the individual Filter publishers will publish at.
filter_human_readable_status_data_rate : 1 # Rate of ekf/status
filter_imu_data_rate : 0 # Rate of ekf/imu/data topic
# Note: Both filter_odometry_earth_data_rate and filter_odometry_map_data_rate depend on the contents of this message.
# If either are set to a higher value, this message will be published at that rate.
filter_llh_position_data_rate : 0 # Rate of ekf/llh_position topic
filter_velocity_data_rate : 0 # Rate of ekf/velocity topic
# Note: filter_odometry_map_data_rate depends on the contents of this message.
# If either are set to a higher value, this message will be published at that rate.
filter_velocity_ecef_data_rate : 0 # Rate of ekf/velocity_ecef topic
# Note: filter_odometry_earth_data_rate depends on the contents of this message.
# If either are set to a higher value, this message will be published at that rate.
filter_odometry_earth_data_rate : 25 # Rate of ekf/odometry_earth topic
filter_odometry_map_data_rate : 25 # Rate of ekf/odometry_map topic
filter_dual_antenna_heading_data_rate : 0 # Rate of ekf/dual_antenna_heading topic
# Note: mip_filter_gnss_position_aiding_status_data_rate depends on the contents of this message.
# If either are set to a higher value, this message will be published at that rate.
# The speed at which the individual MIP publishers will publish at.
mip_sensor_overrange_status_data_rate : 0 # Rate of mip/sensor/overrange_status topic
mip_gnss1_fix_info_data_rate : 0 # Rate of mip/gnss_1/fix_info topic
mip_gnss1_sbas_info_data_rate : 0 # Rate of mip/gnss_1/sbas_info topic
mip_gnss1_rf_error_detection_data_rate : 0 # Rate of mip/gnss_1/rf_error_detection
mip_gnss2_fix_info_data_rate : 0 # Rate of mip/gnss_1/fix_info topic
mip_gnss2_sbas_info_data_rate : 0 # Rate of mip/gnss_2/sbas_info topic
mip_gnss2_rf_error_detection_data_rate : 0 # Rate of mip/gnss_2/rf_error_detection
mip_filter_status_data_rate : 0 # Rate of mip/filter/status topic
mip_filter_gnss_position_aiding_status_data_rate : 0 # Rate of mip/filter/gnss_aiding_status
# Note: filter_llh_position_data_rate depends on the contents of this message.
# If it is set to a higher value, this message will be published at that rate.
mip_filter_multi_antenna_offset_correction_data_rate : 0 # Rate of mip/filter/multi_antenna_offset_correction
# Note: This message will also affect the frequency that the transform between frame_id and gnss_1/2_frame_id are published
mip_filter_gnss_dual_antenna_status_data_rate : 0 # Rate of mip/filter/gnss_dual_antenna_status
# Note: filter_dual_antenna_heading_data_rate depends on the contents of this message.
# If either are set to a higher value, this message will be published at that rate.
mip_filter_aiding_measurement_summary_data_rate : 0 # Rate of mip/filter/aiding_measurement_summary topic
# ******************************************************************
# NMEA streaming settings
# ******************************************************************
# (GQ7 only) NMEA message format. If set to false, all NMEA message configuration will not have any affect
nmea_message_config: False
# Allow NMEA messages with the same talker IDs on different data sources (descriptor sets)
# In most cases, this should be set to False, as multiple messages of the same type with the same talker ID from a different descriptor set could cause confusion when parsing.
nmea_message_allow_duplicate_talker_ids: False
# NMEA messages in the sensor (IMU) descriptor set
# In order to enable a message, set nmea_message_config to true, and then change the 'data_rate' of the sentences you want to the desired rate in hertz
imu_nmea_prkr_data_rate: 0
# NMEA messages in the GNSS1 descriptor set
# In order to enable a message, set nmea_message_config to true, and then change the 'data_rate' of the sentences you want to the desired rate in hertz
#
# Note: gnss1_nmea_talker_id can be any of the follwing numeric values:
# 1 - Sentences will start with GN
# 2 - Sentences will start with GP
# 3 - Sentences will start with GA
# 4 - Sentences will start with GL
# The purpose of the talker ID is to differentiate when the same message_id comes from different data sources (descriptor sets)
# The gnss1_nmea_talker_id will be applied to all NMEA messages from the GNSS1 descriptor set
gnss1_nmea_talker_id: 1
gnss1_nmea_gga_data_rate: 0
gnss1_nmea_gll_data_rate: 0
gnss1_nmea_gsv_data_rate: 0 # Note that this message_id will not use the gnss1_talker_id since the talker ID will come from the actual constellation the message originates from
gnss1_nmea_rmc_data_rate: 0
gnss1_nmea_vtg_data_rate: 0
gnss1_nmea_hdt_data_rate: 0
gnss1_nmea_zda_data_rate: 0
# NMEA messages in the GNSS2 descriptor set
# In order to enable a message, set nmea_message_config to true, and then change the 'data_rate' of the sentences you want to the desired rate in hertz
#
# Note: gnss2_nmea_talker_id can be any of the follwing numeric values:
# 1 - Sentences will start with GN
# 2 - Sentences will start with GP
# 3 - Sentences will start with GA
# 4 - Sentences will start with GL
# The purpose of the talker ID is to differentiate when the same message_id comes from different data sources (descriptor sets)
# The gnss2_nmea_talker_id will be applied to all NMEA messages from the GNSS2 descriptor set
gnss2_nmea_talker_id: 2
gnss2_nmea_gga_data_rate: 0
gnss2_nmea_gll_data_rate: 0
gnss2_nmea_gsv_data_rate: 0 # Note that this message_id will not use the gnss1_talker_id since the talker ID will come from the actual constellation the message originates from
gnss2_nmea_rmc_data_rate: 0
gnss2_nmea_vtg_data_rate: 0
gnss2_nmea_hdt_data_rate: 0
gnss2_nmea_zda_data_rate: 0
# NMEA messages in the filter descriptor set
# In order to enable a message, set nmea_message_config to true, and then change the 'data_rate' of the sentences you want to the desired rate in hertz
#
# Note: filter_nmea_talker_id can be any of the follwing numeric values:
# 1 - Sentences will start with GN
# 2 - Sentences will start with GP
# 3 - Sentences will start with GA
# 4 - Sentences will start with GL
# The purpose of the talker ID is to differentiate when the same message_id comes from different data sources (descriptor sets)
# The filter_nmea_talker_id will be applied to all NMEA messages from the filter descriptor set
filter_nmea_talker_id: 3
filter_nmea_gga_data_rate: 0
filter_nmea_gll_data_rate: 0
filter_nmea_rmc_data_rate: 0
filter_nmea_hdt_data_rate: 0
filter_nmea_prka_data_rate: 0 # Note that this message_id will not have any talker ID on it since it is proprietary and can only come from the filter descriptor set
# External aiding measurement configuration
subscribe_ext_time : False
subscribe_ext_fix : False
subscribe_ext_vel_ned : False
subscribe_ext_vel_enu : False
subscribe_ext_vel_ecef : False
subscribe_ext_vel_body : False
subscribe_ext_heading_ned : False
subscribe_ext_heading_enu : False
\ No newline at end of file
# This will contain the raw IMU data, NOT the filtered IMU data
imu_data_rate : 100
# The default is to publish LLH position and velocity, but rviz has a hard time displaying that.
# Instead we will publish the position in the ECEF frame
gnss1_llh_position_data_rate : 0
gnss1_velocity_data_rate : 0
gnss1_odometry_earth_data_rate : 2
gnss2_llh_position_data_rate : 0
gnss2_velocity_data_rate : 0
gnss2_odometry_earth_data_rate : 2
# We will only publish the odometry messages from the filter in this example.
# Also publish the human readable message which can be echoed from the command line
filter_human_readable_status_data_rate : 1
filter_odometry_earth_data_rate : 10
filter_odometry_map_data_rate : 10
# Turning on this will cause the transform between gq7_link and gnss_1_antenna_link/gnss_2_antenna_link to be updated from the filter
mip_filter_multi_antenna_offset_correction_data_rate : 2
#################################################################################################################
# Optional odometer config. Useful if using a wheeled vehicle with a wheel encoder connected to the GQ7 over GPIO
# This configuration will not cause any issues if you do not have an odometer connected
#################################################################################################################
# Enable the hardware odometer
enable_hardware_odometer : True
odometer_scaling : 1.0
odometer_uncertainty : 0.15
# Allow the filter to use the hardware odometer in it's estimates
filter_enable_odometer_aiding : True
# For this example, we will assume that we are in a wheeled vehicle such as a car.
# Setting this option will give us better heading performance especially in GNSS outages
# If you are operating in a non wheeled vehicle make sure to disable this
filter_enable_wheeled_vehicle_constraint : True
# Set the location of the odometer
# Note: These should be changed for you setup
filter_speed_lever_arm : [0.0, 0.0, 0.0]
# This GPIO config is specific to this setup, and requires that you use GPIO pins 1 and 2 for encoder A and B respectively.
# You should update for your setup appropriately
gpio_config : True
gpio1_feature : 3 # ENCODER feature
gpio1_behavior : 1 # ENCODER_A behavior
gpio1_pin_mode : 0 # NONE pin_mode
gpio2_feature : 3 # ENCODER feature
gpio2_behavior : 2 # ENCODER_B behavior
gpio2_pin_mode : 0 # NONE pin_mode
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