search

weisongwen / UrbanLoco

UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes
https://advdataset2019.wixsite.com/urbanloco
401 stars 37 forks source link

nlosExclusion/GNSS_Raw_Array message defination #25

Open FengyuGuo opened 2 years ago

FengyuGuo commented 2 years ago

I have tried to show /GNSS_ topic with rostopic, which type is nlosExclusion/GNSS_Raw_Array. I have tried GraphGNSSLib and NavCodeMonitor to compile the message, but both of them failed with the message below

[ERROR] [1659702134.988143320]: Client [/rqt_gui_py_node1894] wants topic /GNSS to have datatype/md5sum [nlosExclusion/GNSS_Raw_Array/6a69c5dd28d3ae527f3fdefebda5da69], but our version has [nlosExclusion/GNSS_Raw_Array/8eb26aafb0dddf7c59548e059be439ec]. Dropping connection.

It seems that the message in data set does not conform with the one in GraphGNSSLib or NavCodeMonitor. Where can i get the correct msg of nlosExclusion/GNSS_Raw_Array and related nlosExclusion/GNSS_Raw?

Thanks!

FengyuGuo commented 2 years ago

Problem solved. By rqt_bag you can see the data structure of GNSS_RAW. And then we can modify msg in GraphGNSSLib to parse the topic. But it seems that there is no carries phase measurement in the data set. Or?