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gps_ublox.orogen
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# frozen_string_literal: true
name "gps_ublox"
import_types_from "std"
import_types_from "base"
import_types_from "iodrivers_base"
import_types_from "gps_base"
using_task_library "iodrivers_base"
using_library "gps_ublox"
import_types_from "gps_ubloxTypes.hpp"
import_types_from "gps_ublox/cfg.hpp"
import_types_from "gps_ublox/CommsInfo.hpp"
import_types_from "gps_ublox/PVT.hpp"
import_types_from "gps_ublox/SignalInfo.hpp"
import_types_from "gps_ublox/RFInfo.hpp"
import_types_from "gps_ublox/RTKInfo.hpp"
# Driver task for Ublox 9th Generation GNSS units, protocol 27.xx
#
# Data update periods are controlled by two properties.
# `navigation_configuration` configures the period of signal acquisition and how
# often a navigation solution is being generated. `msg_rates` controls which
# messages are generated at what period, usually counted in solution epochs.
task_context "Task", subclasses: "iodrivers_base::Task" do
needs_configuration
# Lat/Lon to UTM convertion configuration
property "utm_parameters", "gps_base/UTMConversionParameters"
# The device port used to communicate with this component
property "device_port", "gps_ublox/DevicePort", "PORT_USB"
# Message output rates
property "msg_rates", "gps_ublox/configuration/MessageRates"
# Device's dometer configuration
property "odometer_configuration", "gps_ublox/configuration/Odometer"
# Navigation solution's configuration
property "navigation_configuration", "gps_ublox/configuration/Navigation"
# RTCM output configuration
#
# Ublox' recommended configuration for RTK on the F9P HPG 1.30 is
# [1074, 1084, 1094, 1124, 1230, 4072]
property "rtcm_output_messages", "/std/vector</uint16_t>"
# RTCM messages destined for by this unit
input_port("rtcm_in", "iodrivers_base/RawPacket")
.needs_reliable_connection
# RTCM messages generated by this unit
output_port("rtcm_out", "iodrivers_base/RawPacket")
# Pose samples in the local frame configured with utm_parameters
#
# This port's period is configured by the nav_pvt field of msg_rates
output_port "pose_samples", "base/samples/RigidBodyState"
# Pose samples relatively to our RTK base
#
# This port's period is configured by the nav_relposned field of msg_rates
output_port "rtk_relative_pose_samples", "base/samples/RigidBodyState"
# Description of the GNSS solution, including solution quality information
#
# This port's period is configured by the nav_pvt field of msg_rates
output_port "gps_solution", "gps_base/Solution"
# Information about satellite tracking
#
# This port's period is configured by the nav_sat field of msg_rates
output_port "satellite_info", "gps_base/SatelliteInfo"
# Signal quality information
#
# This port's period is configured by the nav_sig field of msg_rates
output_port "signal_info", "gps_ublox/SignalInfo"
# RF info (quality/jamming)
#
# This port's period is configured by the mon_rf field of msg_rates
output_port "rf_info", "gps_ublox/RFInfo"
# RTK-specific info
#
# This port's period is configured by the rtk_info field of msg_rates. Its
# satellite counters are updated on a period controlled by the nav_sat field
output_port "rtk_info", "gps_ublox/RTKInfo"
# Info about the chip's internal comms
#
# Mostly useful to debug comms issues. Controlled by the mon_comms field of msg_rates
output_port "comms_info", "gps_ublox/CommsInfo"
port_driven
fd_driven
end