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ethz-asl / ethzasl_xsens_driver

Driver for xsens IMUs
BSD 2-Clause "Simplified" License
102 stars 112 forks source link

Seperate gps_msg from Postion Data #76

Closed willdzeng closed 6 years ago

willdzeng commented 6 years ago

Before when we have pos data from the device, we use the same topic as the raw gps data, this causes an issue if one just want to use the raw data or the filtered data, also what I noticed is that the filtered data often has different altitude. so it's better to have them separated.

fcolas commented 6 years ago

Many thanks for your contribution. I have a single issue about the topic names. The convention for ROS drivers of GPS devices is to publish the NavSatFix message on the fix topic. As RAWGPS is a legacy message, I'd suggest using raw_fix for RAWGPS and keep fix for Position information. Could you please made the corresponding changes in your pull request, thanks.

willdzeng commented 6 years ago

Done! thanks.

fcolas commented 6 years ago

Actually, I'm not sure which one should be the main one (/fix) between GNSS PVT and the filtered one. But as long as it is explicit in the documentation, it's ok. By the way, sorry to have forgotten, could you update the documentation in mainpage.dox to reflect this change?

willdzeng commented 6 years ago

Done, I think making the filtered gps default is better, the unfiltered one is not very useful.

fcolas commented 6 years ago

Many thanks!