I will shortly release a new package that supports the swiftnav piksi rtk-gps module (http://www.swiftnav.com/piksi.html) and would like to get the message types and topic names correct. rtk-gps enables 2cm accuracy in ideal conditions, and it provides the rover position relative to a base station, which may or may not be at a surveyed location.
The driver currently publishes:
1. the gps data (3m accuracy) in message type sensor_msgs::NavSatFix on topic gps/fix
2. the rtk fix (2cm accuracy best case) in message type nav_msgs::Odometry on topic gps/rtkfix.
3. the gps time in message type sensor_msgs::TimeReference on gps/time
My question is, is this correct?
It could also publish velocity based on the rtk fix, if you think that would be useful and can suggest a message type/topic name
Since it is a gps sensor, I imagine it will frequently be a data source for robot_pose_ekf (which subscribes to nav_msgs::Odometry on topic /vo) or for robot_localization (which subscribes to message nav_msgs::Odometry on topic /odometry/gps).
Can the experts out there please guide me as to message types and topic names. I know topic names are less critical because they can be remapped, but it would be nice to make them maximally compatible.
Thanks
Paul
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