rsasaki0109
commented
7 months ago ~/eagleye_main_ws$ ros2 launch eagleye_rt eagleye_rt.launch.xml
[INFO] [launch]: All log files can be found below /home/autoware/.ros/log/2023-11-29-10-32-26-127267-autoware-XL7C-R36-73264
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [twist_relay-1]: process started with pid [73265]
[INFO] [tf_converted_imu-2]: process started with pid [73267]
[INFO] [velocity_scale_factor-3]: process started with pid [73269]
[INFO] [yaw_rate_offset_stop-4]: process started with pid [73271]
[INFO] [yaw_rate_offset-5]: process started with pid [73273]
[INFO] [yaw_rate_offset-6]: process started with pid [73275]
[INFO] [heading-7]: process started with pid [73277]
[INFO] [heading-8]: process started with pid [73279]
[INFO] [heading-9]: process started with pid [73281]
[INFO] [heading_interpolate-10]: process started with pid [73283]
[INFO] [heading_interpolate-11]: process started with pid [73285]
[INFO] [heading_interpolate-12]: process started with pid [73287]
[INFO] [slip_angle-13]: process started with pid [73289]
[INFO] [distance-14]: process started with pid [73291]
[INFO] [trajectory-15]: process started with pid [73293]
[INFO] [position-16]: process started with pid [73295]
[INFO] [position_interpolate-17]: process started with pid [73297]
[INFO] [smoothing-18]: process started with pid [73299]
[INFO] [height-19]: process started with pid [73307]
[INFO] [angular_velocity_offset_stop-20]: process started with pid [73311]
[INFO] [correction_imu-21]: process started with pid [73326]
[INFO] [rolling-22]: process started with pid [73329]
[INFO] [monitor-23]: process started with pid [73331]
[INFO] [gnss_converter-24]: process started with pid [73336]
[INFO] [static_transform_publisher-25]: process started with pid [73351]
[INFO] [static_transform_publisher-26]: process started with pid [73408]
[INFO] [geo_pose_fusion-27]: process started with pid [73445]
[INFO] [geo_pose_converter-28]: process started with pid [73487]
[static_transform_publisher-25] [WARN] [1701221547.169264212] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-26] [WARN] [1701221547.162493730] []: Old-style arguments are deprecated; see --help for new-style arguments
[monitor-23] subscribe_rtklib_nav_topic_name gnss/rtklib_nav
[monitor-23] subscribe_gga_topic_name gnss/gga
[monitor-23] print_status 1
[monitor-23] log_output_status 0
[monitor-23] use_compare_yaw_rate 0
[static_transform_publisher-25] [INFO] [1701221547.192435673] [eagleye.gps.static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-25] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-25] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-25] from 'base_link' to 'gnss'
[gnss_converter-24] velocity_source_type 0
[gnss_converter-24] velocity_source_topic /rtklib_nav
[gnss_converter-24] llh_source_type 0
[gnss_converter-24] llh_source_topic /rtklib_nav
[gnss_converter-24] twist_covariance_thresh 0.2
[gnss_converter-24] ublox_vacc_thresh 200
[static_transform_publisher-26] [INFO] [1701221547.200947257] [eagleye.imu.static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-26] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-26] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-26] from 'base_link' to 'imu'
[geo_pose_fusion-27] fix_only_publish 0
[geo_pose_fusion-27] fix_judgement_type 0
[geo_pose_fusion-27] fix_std_pos_thres 0.1
[geo_pose_converter-28] plane 7
[geo_pose_converter-28] tf_num 1
[geo_pose_converter-28] convert_height_num 0
[geo_pose_converter-28] geoid_type 0
[geo_pose_converter-28] parent_frame_id map
[geo_pose_converter-28] child_frame_id eagleye_base_link
[geo_pose_converter-28] base_link_frame_id base_link
[geo_pose_converter-28] gnss_frame_id gnss_link
[geo_pose_converter-28] [INFO] [1701221547.424571655] [eagleye_geo_pose_converter]: convert_height_num is 0(no convert)
Sync https://github.com/MapIV/eagleye/pull/312