AUTONOMY: Create GPS Publishing Node

[keyonjerome]

Task description:

1. Figure out how to plug the Vectornav into the Jetson.
2. Create a ROS2 C++ node that reads from the Vectornav every ~30ms and publishes the GNSS/IMU data.
3. Create a launch file that launches the node, and test the program on the Jetson.4
4. Test GPS accuracy -> how precise is it when giving us locations?

[wang-edward]

Notes:

May 19:

• Properly builds and connects to VN300, but publishes empty messages May 20:
• Properly publishes IMU, didn't test GPS

  Future testing

• Try higher polling rate (currently at 1hz)
• Test max rate and async vs realtime performance
• GPS test bench - Use both antennae, proper seperation, actually go outside

[wang-edward]

setup

In order to get access to /dev/ttyUSB0 (which is part of dialout group):

• sudo adduser {name} dialout

[wang-edward]

improvements

• More accurate time query
• Utilize multiple antennas to get more accurate gnss (currently only using 1)
• Make configurable with yaml
• Use ros2 logging instead of std::cout

[nico-palmar]

were these improvements done yet?