Eagleye can't estimate the final pose
It seems eagleye doesn't use the latLonAlt info from sensor_msgs/Navsatfix for estimating the position (x, y, z).
I tried looking at the code to understand the problem. The function position_estimate can only be used for rtklib_msgs and nmea_msgs formats and not for sensor_msgs. If I'm right, that means we can use eagleye with sensor_msgs/NavSatFix. I hope my wrong.
Sorry, there might be a bug with the combination of velocity_source as nmea_sentence and llh_source as nav_sat_fix. Does nmea_sentence include GGA? If it does, you should specify nmea_sentence for llh_source.
Hi,
I'm trying to get eagleye (develop-ros2 branch) to work with my bags, which contain the following data:
My configuration file looks like this (And use_multi_antenna_mode is set to true)
/**: #GNSS cycle 5Hz, IMU cycle 50Hz. ros__parameters:
Estimate mode
The terminal show me that:![Screenshot from 2024-05-14 14-51-30](https://github.com/MapIV/eagleye/assets/57793779/138727ba-8c64-42b9-a225-47d1e1e592e1)
Eagleye can't estimate the final pose It seems eagleye doesn't use the latLonAlt info from sensor_msgs/Navsatfix for estimating the position (x, y, z).
I tried looking at the code to understand the problem. The function position_estimate can only be used for rtklib_msgs and nmea_msgs formats and not for sensor_msgs. If I'm right, that means we can use eagleye with sensor_msgs/NavSatFix. I hope my wrong.
Kind regards Please let me know if you want my bag and the modifs I did from eagleye.