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septentrio-gnss / septentrio_gnss_driver

ROS 1 & 2 driver for Septentrio GNSS & INS receivers
BSD 3-Clause "New" or "Revised" License
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topic with heading information #44

Open robodyne-robotics opened 2 years ago

robodyne-robotics commented 2 years ago

I can't find the published topic used to output the absolute heading when using AsteRx-i3 D Pro+ with dual antenna configuration.

tibordome commented 2 years ago

Hi there, for INS Rxs the heading with respect to true north can be obtained via /insnavgeod. To make use of the dual Ant configuration, you might need to activate “MultiAntenna” in the web interface ("GNSS Attitude" section) explicitly, though it should be the default. Please avoid using /pose for now because the latter has a flawed parsing implementation for INS Rxs; we will address this in the next update.