Neccessary topics for bag file

[abdullahenesdoruk]

Hi, i want to run with rosbag file. eagle_topic.yaml include rtklib_nav_topic: /rtklib_nav
navsatfix_topic: /f9p/fix nmea_sentence_topic: /f9p/nmea_sentence topics. Are these topics neccessary for bag file, and what topics neccessary for bag file.

[Ryohei Sasaki]

It works if you have at least rtklib_nav_topic. (In this case, the location information calculated by RTKLIB is used for eagleye.)
If you want to use the location information used by the receiver's internal engine instead of rtklib, use navsatfix_topic or nmea_sentence_topic(The navsatfix type is more common in ROS, but map4 uses the nmea type, which can store more information.).

[abdullahenesdoruk]

Thanks for answer.

[abdullahenesdoruk]

Hi, what is the meaning ecef_pos and ecef_vel in rtklib_nav ropic?

[Ryohei Sasaki]

position and velocity in Earth-Centered Earth-Fixed coordinate system