How to get high-frequency heading value?

novatel / novatel_oem7_driver

ROS Driver for NovAtel OEM7 GNSS/SPAN Receivers

https://wiki.ros.org/novatel_oem7_driver

MIT License

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How to get high-frequency heading value? #20

Closed zed654 closed 3 years ago

zed654 commented 3 years ago

How could I receive high-frequency heading value? I checked that the default heading data (topic : heading2) has 1 Hz output. But, I wanna get upper than 10 Hz. How could I did it? Is there any command line?

Also, the rostopic of gpdht is not published. Could I receive by using just easy command line?

Thanks !

m4rk0401 commented 3 years ago

I am facing the same problem as you right now. Maybe it is possible to extend the driver with the DUALANTENNAHEADING?

novatel-applications-engineering commented 3 years ago

Hi @zed654 @m4rk0401. The rate of the HEADING2 log can be adjusted by editing the .yaml files as outlined on our ROS Wiki page here: https://wiki.ros.org/novatel_oem7_driver/configuration

This also steps through adding logs to the files, which will allow you to add the GPHDT log.

If further detail is required, or you feel the above page does not answer your question. Please submit a support ticket to support.novatel@hexagon.com.

zed654 commented 3 years ago

Thanks! I solved the frequency issue by modifying the baud rate from 9600 to 460800 written in ttyUSB.launch and by writting 'DUALANTENNAALIGN 20 1' in std_init_command.yaml script. (On the guideline, the 460800 is recommended if you wanna use IMU log data)