Bag not work for ros2
cshang412 opened this issue · comments
when using ros2 bag play -s rosbag_v2 eagleye_sample.bag play bag , the rosbag_v2 only support default msgs that included in ros1 and ros2 standard msg, the rtklib_msgs/RtklibNav msg will be ignored.
- is there a way to not using rtklib_msgs/RtklibNav msg ,just using sensor_msgs/NavSatFix to replace gnss source as input ?
To play rosbag in ros1 with custom messages in ros2, please see below.
https://github.com/ros2/rosbag2_bag_v2
rtklib_msgs/RtklibNav contains GNSS Doppler velocity (velocity in ECEF coordinate system) used in eagleye and sensor_msgs/NavSatFix is not a replacement.
I would like to provide sample data from ROS2 sometime in the future.
thanks very much for your quick response, May i ask one more question, Since the GNSS Dopper velocity is not common used in normal gnss device, i can only get GPRMC or GNRMC sentence which is presice position after differentiation positioning, and also i can get chassis can frame and imu frame , i want use GPRMC or GNRMC to replace the RTK input , in NMEA mode, what the difference between /nmea_sentence_topic and gga_topic ？ and both of them should have input at same time ? i that neccessary ?
gga_topic in yaml has disappeared in the develop branch.
So, please disregard this matter.
https://github.com/MapIV/eagleye/blob/develop-ros1/eagleye_rt/config/eagleye_config.yaml#L8-L12
If you do not use Doppler velocity, set use_gnss_mode from RTKLIB to NMEA and specify nmea_sentence_topic including gga and rmc.
By the way, ealgeye internally converts nmea_sentence_topic(nmea_msgs/Sentence) to nmea_msgs/Gpgga and nmea_msgs/Gprmc.
I forgot to mention that the following package developed by map4 also provides ros1/ros2 conversion for rosbag.
Because it has not had recent activity, I am closing this issue for now. Please comment again if you have any further issues.
New sample data is here.
https://drive.google.com/drive/folders/1TEaVRn7F6t8PhEfZe59gE_C1B8jZUkJo