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SBG-Systems / sbg_ros_driver

ROS 1 driver for SBG Systems IMU/AHRS/INS units such as ELLIPSE or QUANTA.
https://www.sbg-systems.com
MIT License
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How to get EKF position for SBG through UDP #36

Closed kamilcetin closed 3 years ago

kamilcetin commented 4 years ago

Hi all, I can see these rostopics; /imu/data /imu/pos_ecef /imu/temp /imu/utc_ref /imu/velocity /sbg/ekf_euler /sbg/ekf_nav /sbg/ekf_quat /sbg/imu_data /sbg/status /sbg/utc_time But I can only echo the rostopic of /sbg/imu_data msgs. How can I get the ekf position data of the sbg device? Do you think that is there any missing in my configuration file;

Configuration file for SBG device through an Udp interface.

Configuration of the device with ROS.

confWithRos: false

Udp configuration

ipConf: ipAddress: "137.195.180.10" #Ip address of the device. out_port: 1234 #Output port of the device. in_port: 5678 #Inport of the device.

Sensor Parameters

sensorParameters:

Initial latitude (°)

initLat: 48.419727

Initial longitude (°)

initLong: -4.472119

Initial altitude (above WGS84 ellipsoid) (m)

initAlt: 100.0

Year at startup

year: 2018

month in year at startup

month: 03

day in month at startup

day: 10

Montion profile ID

1 GENERAL_PURPOSE Should be used as a default when other profiles do not apply

2 AUTOMOTIVE Dedicated to car applications

3 MARINE Used in marine and underwater applications

4 AIRPLANE For fixed wings aircraft

5 HELICOPTER For rotary wing aircraft

motionProfile: 1

IMU_ALIGNMENT_LEVER_ARM

imuAlignementLeverArm:

IMU X axis direction in vehicle frame

0 ALIGNMENT_FORWARD IMU Axis is turned in vehicle's forward direction

1 ALIGNMENT_BACKWARD IMU Axis is turned in vehicle's backward direction

2 ALIGNMENT_LEFT IMU Axis is turned in vehicle's left direction

3 ALIGNMENT_RIGHT IMU Axis is turned in vehicle's right direction

4 ALIGNMENT_UP IMU Axis is turned in vehicle's up direction

5 ALIGNMENT_DOWN IMU Axis is turned in vehicle's down direction

axisDirectionX: 0

IMU Y axis direction in vehicle frame

0 ALIGNMENT_FORWARD IMU Axis is turned in vehicle's forward direction

1 ALIGNMENT_BACKWARD IMU Axis is turned in vehicle's backward direction

2 ALIGNMENT_LEFT IMU Axis is turned in vehicle's left direction

3 ALIGNMENT_RIGHT IMU Axis is turned in vehicle's right direction

4 ALIGNMENT_UP IMU Axis is turned in vehicle's up direction

5 ALIGNMENT_DOWN IMU Axis is turned in vehicle's down direction

axisDirectionY: 3

Residual roll error after axis alignment rad

misRoll: 0

Residual pitch error after axis alignment rad

misPitch: 0

Residual yaw error after axis alignment rad

misYaw: 0

X Primary lever arm in IMU X axis (once IMU alignment is applied) m

leverArmX: 0

Y Primary lever arm in IMU Y axis (once IMU alignment is applied) m

leverArmY: 0

Z Primary lever arm in IMU Z axis (once IMU alignment is applied) m

leverArmZ: 0

AIDING_ASSIGNMENT

Note: GNSS1 module configuration can only be set to an external port on Ellipse-E version.

Ellipse-N users must set this module to MODULE_INTERNAL. On the other hand, rtcmModule is only

available for Ellipse-N users. This module must be set to MODULE_DISABLED for other users.

aidingAssignment:

GNSS module port assignment:

255 Module is disabled

1 Module connected on PORT_B

2 Module connected on PORT_C

3 Module connected on PORT_D

5 Module is connected internally

gnss1ModulePortAssignment: 5 #255 changed by

GNSS module sync assignment:

0 Module is disabled

1 Synchronization is done using SYNC_IN_A pin

2 Synchronization is done using SYNC_IN_B pin

3 Synchronization is done using SYNC_IN_C pin

4 Synchronization is done using SYNC_IN_D pin

5 Synchronization is internal

6 Synchronization is done using SYNC_OUT_A pin

7 Synchronization is done using SYNC_OUT_B pin

gnss1ModuleSyncAssignment: 5 #0 changed by

RTCM input port assignment for Ellipse-N DGPS

rtcmPortAssignment: 255

Odometer module pin assignment

0 Odometer is disabled

1 Odometer connected only to ODO_A (unidirectional).

2 Odometer connected to both ODO_A (signal A) and ODO_B (Signal B or direction) for bidirectional odometer.

odometerPinAssignment: 1 #0 changed by

magnetometer:

Magnetometer model ID

201 Should be used in most applications

202 Should be used in disturbed magnetic environment

magnetometerModel: 201

Magnetometer rejection mode

0 Measurement is not taken into account

1 Measurement is rejected if inconsistent with current estimate (depending on error model)

2 Measurement is always accepted

magnetometerRejectMode: 1

Theses parameters are only used for a calibration run

calibration:

1 2D Tell the device that the magnetic calibration will be performed with limited motions.

#    This calibration mode is only designed to be used when roll and pitch motions are less than ± 5°. 
#    To work correctly, the device should be rotated through at least a full circle.
#2 3D Tell the device to start a full 3D magnetic calibration procedure. The 3D magnetic calibration offers the best accuracy
mode: 2

#0 LOW_BW Use this parameter in case of strong magnetic noise during calibration. 
#    Motion during calibration is then limited to slow rotations.
#1 MEDIUM_BW Tell the device that medium dynamics will be observed during the magnetic calibration process. 
#    It can be used in case of medium magnetic noise during calibration process. Medium dynamics are used during calibration.
#2 HIGH_BW This parameter is suitable to most applications. It can be used when the dynamics during calibration are relatively high.
bandwidth: 2

GNSS configuration

Note: Secondary level arms should only be considered in case of dual antenna GNSS receiver. It can be left to 0 otherwise.

gnss:

Gnss Model Id

101 Used on Ellipse-N to setup the internal GNSS in GPS+GLONASS

102 Default mode for Ellipse-E connection to external GNSS

103 Used on Ellipse-N to setup the internal GNSS in GPS+BEIDOU

104 Used on Ellipse-E to setup a connection to ublox in read only mode.

106 Used on Ellipse-E to setup a connection to Novatel receiver in read only mode.

107 Used on Ellipse-D by default

gnss_model_id: 107 #102 changed by

GNSS primary antenna lever arm in IMU X axis (m)

primaryLeverArmX: 0

GNSS primary antenna lever arm in IMU Y axis (m)

primaryLeverArmY: 0

GNSS primary antenna lever arm in IMU Z axis (m)

primaryLeverArmZ: 0

GNSS primary antenna precise. Set to true if the primary lever arm has been accurately entered and doesn't need online re-estimation.

primaryLeverPrecise: true

GNSS secondary antenna lever arm in IMU X axis (m)

secondaryLeverArmX: 0

GNSS secondary antenna lever arm in IMU Y axis (m)

secondaryLeverArmY: 0

GNSS secondary antenna lever arm in IMU Z axis (m)

secondaryLeverArmZ: 0

Secondary antenna operating mode.

1 The GNSS will be used in single antenna mode only and the secondary lever arm is not used.

2 [Reserved] The GNSS dual antenna information will be used but the secondary lever arm is not known.

3 The GNSS dual antenna information will be used and we have a rough guess for the secondary lever arm.

4 The GNSS dual antenna information will be used and the secondary lever arm is accurately entered and doesn't need online re-estimation.

secondaryLeverMode: 1

Rejection mode for position

0 Measurement is not taken into account

1 Measurement is rejected if inconsistent with current estimate (depending on error model)

2 Measurement is always accepted

posRejectMode: 1

Rejection mode for velocity (see posRejectMode values)

velRejectMode: 1

Rejection mode for true heading (see posRejectMode values)

hdtRejectMode: 1

Odometer configuration

odom:

Odometer's gain Pulses/m

gain: 4800

User gain average error (%)

gain_error: 0.1

Odometer's direction

0: positive

1: negative

direction: 0

Odometer lever arm in IMU X axis (m)

leverArmX: 0

Odometer lever arm in IMU Y axis (m)

leverArmY: 0

Odometer lever arm in IMU Z axis (m)

leverArmZ: 0

Odometer rejection mode

0 Measurement is not taken into account

1 Measurement is rejected if inconsistent with current estimate (depending on error model)

2 Measurement is always accepted

rejectMode: 1

ToDo: event & CAN configuration

###############################Output configuration ###############################

0 Output is disabled

1 Output is generated at 200Hz

2 Output is generated at 100Hz

4 Output is generated at 50Hz

8 Output is generated at 25Hz

10 Output is generated at 20Hz

20 Output is generated at 10Hz

40 Output is generated at 5Hz

200 Output is generated at 1Hz

10000 Pulse Per Second. Same mode as above.

10001 Output sent when a new data is available.

10002 Output is generated when a new virtual odometer event occurs

10003 Output is generated on a Sync In A event

10004 Output is generated on a Sync In B event

10005 Output is generated on a Sync In C event

10006 Output is generated on a Sync In D event

output:

Time Reference

0 No external time reference is used. Internal clock is used instead.

1 The system will be synchronized on the clock input observed at SYNC_IN_A pin.

2 The system will be synchronized GPS PPS signal, (see GPS module assignment)

timeReference: 0 ros_standard: true

Status general, clock, com aiding, solution, heave

log_status: 200

Includes IMU status, acc., gyro, temp delta speeds and delta angles values

log_imu_data: 8

Includes roll, pitch, yaw and their accuracies on each axis

log_ekf_euler: 8

Includes the 4 quaternions values

log_ekf_quat: 8

Position and velocities in NED coordinates with the accuracies on each axis

log_ekf_nav: 8

Heave, surge and sway and accelerations on each axis for up to 4 points

log_ship_motion: 0

Provides UTC time reference

log_utc_time: 200

Magnetic data with associated accelerometer on each axis

log_mag: 0

Magnetometer calibration data (raw buffer)

log_mag_calib: 0

GPS velocities from primary or secondary GPS receiver

log_gps1_vel: 0

GPS positions from primary or secondary GPS receiver

log_gps1_pos: 0

GPS true heading from dual antenna system

log_gps1_hdt: 0

GPS 1 raw data for post processing.

log_gps1_raw: 0

Provides odometer velocity

log_odo_vel: 0

Event A/B/C/D Event markers sent when events are detected on a sync in pin

log_event_a: 0 log_event_b: 0 log_event_c: 0 log_event_d: 0

Air data

log_air_data: 0

Short IMU data

log_imu_short: 0

Node frequency (Hz) (if set to 0, the node will decide the most appropriate frequency to run)

frequency: 0

rsiryani commented 4 years ago

Hi,

The ROS driver is in confWithRos: false that is the correct setting to connect using UDP. However, in this case, you have to make sure the INS (an EKINOX/APOGEE/QUANTA or NAVSIGHT I guess) is correctly setup. You should especially make sure EKF outputs are correctly configured in the web interface at the rate you are interested in.

You can have a look to issue #27

Please let me know if it helps,