ros-based RTK_TC - Githubissues

Dear authors

I encountered a question about RTK_TC mode based on ROS environment. The question is as follow:

Initialized 9 streamers, 2 formaters, and 1 estimator. Running... I20230926 17:44:45.784895 15695 formator.cpp:1266] Input DCBs are not closed for R06 I20230926 17:44:45.785063 15695 formator.cpp:1266] Input DCBs are not closed for R10 I20230926 17:44:45.785478 15695 formator.cpp:1266] Input DCBs are not closed for R23

It can not go on. Did something wrong I configure? I have used the tools transferring the raw files to rosbag format.

stream: streamers:

streamer: tag: str_ros_gnss_rov type: ros topic_name: /gici/gnss_rover io: input format: gnss_raw enable_observation: true
streamer: tag: str_ros_gnss_ref type: ros topic_name: /gici/gnss_reference io: input format: gnss_raw enable_observation: true enable_antenna_position: true
streamer: tag: str_ros_gnss_eph type: ros topic_name: /gici/gnss_ephemeris io: input format: gnss_raw enable_ephemeris: true enable_ionosphere_parameter: true
streamer: tag: str_dcb_file output_tags: [fmt_dcb_file] type: file path: /home/.../Downloads/GICI/gici/option/CAS0MGXRAP_20221580000_01D_01D_DCB.BSX enable_time_tag: false
streamer: tag: str_ros_imu type: ros topic_name: /gici/imu_raw io: input format: imu
streamer: tag: str_tc_solution_file input_tags: [fmt_tc_solution_file] type: file path: /home/.../Downloads/GICI/gici/ros_wrapper/src/gici/out_res/52/rtk_tc_solution.txt enable_time_tag: false
streamer: tag: str_solution type: ros topic_name: solution queue_size: 5 io: output format: pose_stamped
streamer: tag: str_solution_odometry type: ros topic_name: solution_odometry queue_size: 10 io: output format: odometry subframe_id: Body
streamer: tag: str_solution_path type: ros topic_name: solution_path queue_size: 100 io: output format: path

formators:
formator: io: input tag: fmt_dcb_file type: dcb-file
formator: io: output tag: fmt_tc_solution_file type: nmea use_esa: true talker_id: GP

replay: enable: false

estimate:

estimator: tag: est_rtk_imu_tc type: rtk_imu_tc input_tags: [str_ros_gnss_rov, str_ros_gnss_ref, str_ros_gnss_eph, fmt_dcb_file, str_ros_imu] str_ros_gnss_rov_roles: [rover] str_ros_gnss_ref_roles: [reference] str_ros_gnss_eph_roles: [ephemeris] fmt_dcb_file_roles: [code_bias] str_ros_imu_roles: [major] output_tags: [fmt_tc_solution_file, str_solution, str_solution_odometry, str_solution_path] output_align_tag: str_ros_imu output_downsample_rate: 40 compute_covariance: true rtk_imu_tc_options: max_window_length: 3 rtk_options: use_ambiguity_resolution: true gnss_estimator_base_options: use_outlier_rejection: true reject_one_outlier_once: false max_pesudorange_error: 4.0
max_phaserange_error: 0.06
max_doppler_error: 0.5 gnss_common: min_elevation: 12.0
min_SNR: [35.0, 30.0] imu_estimator_base_options: imu_parameters: sigma_bg: 1.0e-3 sigma_ba: 1.0e-2 sigma_g_c: 2.6700e-04 sigma_a_c: 0.0112 sigma_gw_c: 2.0881e-06 sigma_aw_c: 2.7361e-04 body_to_imu_rotation: [-90.0, -90.0, 0.0] body_to_imu_rotation_std: 5.0 car_motion: true car_motion_min_velocity: 3.0 car_motion_max_anguler_velocity: 5.0 estimator_base_options: max_iteration: 5 num_threads: 4 max_solver_time: 0.05 verbose_output: true solver_type: dense_schur trust_region_strategy_type: dogleg ambiguity_resolution_options: system_exclude: [R] min_percentage_fixation_uwl: 1.0 min_percentage_fixation_wl: 0.9 min_percentage_fixation_nl: 0.9 ratio: 2.0 gnss_imu_initializer_options: max_iteration: 30 num_threads: 4 max_solver_time: 0.5 gnss_extrinsics: [-0.029, 0.354, -0.042] gnss_extrinsics_initial_std: [0.0, 0.0, 0.0] time_window_length_slow_motion: 0.05 time_window_length_dynamic_motion: 0.5 min_acceleration: 0.5

logging: enable: true min_log_level: 0 log_to_stderr: true file_directory:

chichengcn / gici-open-dataset

ros-based RTK_TC #7