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dawonn / vectornav

ROS Interface for the VectorNav IMU/GPS
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VN310 support? Dual GNSS #75

Open pringithub opened 3 years ago

pringithub commented 3 years ago

Hello!

We have a VN310 and are wondering if this library could add Dual GNSS support as specified in the VN310 spec. Thankfully, we are able to use the vn210.yaml file to get GPS data with a single antenna, but would like the option of dual antennae as well.

pringithub commented 3 years ago

I also don't see any documentation for a 'compass' member variable in any of the rosmsgs, but I do see a reference to getting compass data in #57

dawonn commented 3 years ago

You should be able to easily support the dual GPS receiver with minimal modifications to main.cc. hardware support should be there already.

I'll note that this note does not publish the raw GPS data by default, instead it relies on the INS solution which on the VN 310 should use both GPS antennas.

It's probably not very helpful but the ROS2 version supports it out of the box, just need to configure the node parameters to enable the messages you care about.

On Tue, Jul 27, 2021, 11:31 Phillip Ring @.***> wrote:

I also don't see any documentation for a 'compass' member variable in any of the rosmsgs, but I do see a reference to getting compass data in #57 https://github.com/dawonn/vectornav/issues/57

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MattArceri commented 3 years ago

The yaw value reported by the VN-310 is aligned with North already. That direction is determined automatically using the dual GPS (as long as you setup the antenna positions properly already). You can just use the yaw value for heading. The compass status registers aren't needed for normal operation of the VN-310. Basically the VN-310 is already supported and has worked fine for me. EDIT: To clarify, yaw=0 means the VN-310 is pointing North.

umiklos commented 1 year ago

@pringithub did you find a solution? We also want to use the dual GNSS with ROS1.

MattArceri commented 1 year ago

@umiklos When this issue was originally opened, I was already using this repository with the VN310 without any problems. There was never any update from @pringithub that made it clear what their specific issue was. I'd recommend just trying it out.