void IMU::UpdateData(IMU_DATA &data)
{
XsByteArray imuData;
XsMessageArray msgs;
while (msgs.empty())
{
Aris::Core::Sleep(1);
pDevice->readDataToBuffer(imuData);
pDevice->processBufferedData(imuData, msgs);
}
//std::cout << "msg num:" << msgs.size()<<std::endl;
for (XsMessageArray::iterator it = msgs.begin(); it != msgs.end(); ++it)
{
// Retrieve a packet
XsDataPacket packet;
if ((*it).getMessageId() == XMID_MtData2)
{
packet.setMessage((*it));
packet.setDeviceId(pDevice->mtPort.deviceId());
}
// Get the all data
auto eul = packet.orientationEuler();
auto sdi = packet.sdiData();
auto acc = packet.calibratedAcceleration();
data.yaw = eul.yaw()*PI / 180;
data.pitch = eul.pitch()*PI / 180;
data.roll = eul.roll()*PI / 180;
data.va = sdi.orientationIncrement().x() * 2 * 100;
data.vb = sdi.orientationIncrement().y() * 2 * 100;
data.vc = sdi.orientationIncrement().z() * 2 * 100;
std::copy_n(acc.data(), acc.size(), data.acc);
data.time = packet.timeOfArrival().nowMs();
data.pmLhs = *pDevice->pmImuGround2BodyGround;
data.pmRhs = *pDevice->pmBody2Imu;
}
msgs.clear();
}
void ofxXsens::update() {
if (callback.packetAvailable())
{
// Retrieve a packet
XsDataPacket packet = callback.getNextPacket();
//Get the quaternion data
XsQuaternion quaternion = packet.orientationQuaternion();
ofLogVerbose("ofxXsens") << "\r"
<< "q0:" << std::setw(5) << std::fixed << std::setprecision(2) << quaternion.m_w
<< ",q1:" << std::setw(5) << std::fixed << std::setprecision(2) << quaternion.m_x
<< ",q2:" << std::setw(5) << std::fixed << std::setprecision(2) << quaternion.m_y
<< ",q3:" << std::setw(5) << std::fixed << std::setprecision(2) << quaternion.m_z
;
// Convert packet to euler
euler = packet.orientationEuler();
ofLogVerbose("ofxXsens") << ",Roll:" << std::setw(7) << std::fixed << std::setprecision(2) << euler.m_roll
<< ",Pitch:" << std::setw(7) << std::fixed << std::setprecision(2) << euler.m_pitch
<< ",Yaw:" << std::setw(7) << std::fixed << std::setprecision(2) << euler.m_yaw
;
// GPS
if(packet.containsLatitudeLongitude()) {
lat_long = packet.latitudeLongitude();
ofLogVerbose("ofxXsens") << "\n" << "Latitude:" << std::setprecision(9) << lat_long[0] << " Longitude:" << lat_long[1];
}
else
if(packet.containsPositionLLA()) {
ofLogVerbose("ofxXsens") << "\n" << "Packet contains position LLA data" ;
}
else
if(packet.containsRawGpsSol()){
ofLogVerbose("ofxXsens") << "\n" << "Packet contains RAW GPS data" ;
}
}
}
/*-------------------------------------------------------------
doProcess
-------------------------------------------------------------*/
void CIMUXSens_MT4::doProcess()
{
#if MRPT_HAS_xSENS_MT4
if(m_state == ssError)
{
mrpt::system::sleep(200);
initialize();
}
if(m_state == ssError)
return;
XsByteArray data;
XsMessageArray msgs;
my_xsens_device.readDataToBuffer(data);
my_xsens_device.processBufferedData(data, msgs);
for (XsMessageArray::iterator it = msgs.begin(); it != msgs.end(); ++it)
{
// Retrieve a packet
XsDataPacket packet;
if ((*it).getMessageId() == XMID_MtData)
{
LegacyDataPacket lpacket(1, false);
lpacket.setMessage((*it));
lpacket.setXbusSystem(false, false);
lpacket.setDeviceId(my_xsens_devid, 0);
lpacket.setDataFormat(XOM_Orientation, XOS_OrientationMode_Euler | XOS_Timestamp_PacketCounter | XOS_CalibratedMode_All/*XOS_OrientationMode_Quaternion*/,0); //lint !e534
XsDataPacket_assignFromXsLegacyDataPacket(&packet, &lpacket, 0);
}
else if ((*it).getMessageId() == XMID_MtData2) {
packet.setMessage((*it));
packet.setDeviceId(my_xsens_devid);
}
// Data properly collected: extract data fields
// -------------------------------------------------
m_state = ssWorking;
CObservationIMUPtr obs = CObservationIMU::Create();
if (packet.containsOrientation())
{
XsEuler euler = packet.orientationEuler();
obs->rawMeasurements[IMU_YAW] = DEG2RAD(euler.yaw()); obs->dataIsPresent[IMU_YAW] = true;
obs->rawMeasurements[IMU_PITCH] = DEG2RAD(euler.pitch()); obs->dataIsPresent[IMU_PITCH] = true;
obs->rawMeasurements[IMU_ROLL] = DEG2RAD(euler.roll()); obs->dataIsPresent[IMU_ROLL] = true;
XsQuaternion quat = packet.orientationQuaternion();
obs->rawMeasurements[IMU_ORI_QUAT_X] = quat.x(); obs->dataIsPresent[IMU_ORI_QUAT_X] = true;
obs->rawMeasurements[IMU_ORI_QUAT_Y] = quat.y(); obs->dataIsPresent[IMU_ORI_QUAT_Y] = true;
obs->rawMeasurements[IMU_ORI_QUAT_Z] = quat.z(); obs->dataIsPresent[IMU_ORI_QUAT_Z] = true;
obs->rawMeasurements[IMU_ORI_QUAT_W] = quat.w(); obs->dataIsPresent[IMU_ORI_QUAT_W] = true;
}
if (packet.containsCalibratedAcceleration())
{
XsVector acc_data = packet.calibratedAcceleration();
obs->rawMeasurements[IMU_X_ACC] = acc_data[0]; obs->dataIsPresent[IMU_X_ACC] = true;
obs->rawMeasurements[IMU_Y_ACC] = acc_data[1]; obs->dataIsPresent[IMU_Y_ACC] = true;
obs->rawMeasurements[IMU_Z_ACC] = acc_data[2]; obs->dataIsPresent[IMU_Z_ACC] = true;
}
if (packet.containsCalibratedGyroscopeData())
{
XsVector gyr_data = packet.calibratedGyroscopeData();
obs->rawMeasurements[IMU_YAW_VEL] = gyr_data[2]; obs->dataIsPresent[IMU_YAW_VEL] = true;
obs->rawMeasurements[IMU_PITCH_VEL] = gyr_data[1]; obs->dataIsPresent[IMU_PITCH_VEL] = true;
obs->rawMeasurements[IMU_ROLL_VEL] = gyr_data[0]; obs->dataIsPresent[IMU_ROLL_VEL] = true;
}
if (packet.containsCalibratedMagneticField())
{
XsVector mag_data = packet.calibratedMagneticField();
obs->rawMeasurements[IMU_MAG_X] = mag_data[0]; obs->dataIsPresent[IMU_MAG_X] = true;
obs->rawMeasurements[IMU_MAG_Y] = mag_data[1]; obs->dataIsPresent[IMU_MAG_Y] = true;
obs->rawMeasurements[IMU_MAG_Z] = mag_data[2]; obs->dataIsPresent[IMU_MAG_Z] = true;
}
if (packet.containsVelocity())
{
XsVector vel_data = packet.velocity();
obs->rawMeasurements[IMU_X_VEL] = vel_data[0]; obs->dataIsPresent[IMU_X_VEL] = true;
obs->rawMeasurements[IMU_Y_VEL] = vel_data[1]; obs->dataIsPresent[IMU_Y_VEL] = true;
obs->rawMeasurements[IMU_Z_VEL] = vel_data[2]; obs->dataIsPresent[IMU_Z_VEL] = true;
}
if (packet.containsTemperature())
{
obs->rawMeasurements[IMU_TEMPERATURE] = packet.temperature(); obs->dataIsPresent[IMU_TEMPERATURE] = true;
}
if (packet.containsAltitude())
{
obs->rawMeasurements[IMU_ALTITUDE ] = packet.altitude(); obs->dataIsPresent[IMU_ALTITUDE ] = true;
}
// TimeStamp
if (packet.containsSampleTime64())
{
const uint64_t nowUI = packet.sampleTime64();
uint64_t AtUI = 0;
if( m_timeStartUI == 0 )
{
m_timeStartUI = nowUI;
m_timeStartTT = mrpt::system::now();
}
else
AtUI = nowUI - m_timeStartUI;
double AtDO = AtUI * 1000.0; // Difference in intervals of 100 nsecs
obs->timestamp = m_timeStartTT + AtDO;
}
else if (packet.containsUtcTime())
{
XsUtcTime utc = packet.utcTime();
mrpt::system::TTimeParts parts;
parts.day_of_week = 0;
parts.daylight_saving = 0;
parts.year = utc.m_year;
parts.month = utc.m_month;
parts.day = utc.m_day;
parts.hour = utc.m_hour;
parts.minute = utc.m_minute;
parts.second = utc.m_second + (utc.m_nano * 1000000000.0);
obs->timestamp = mrpt::system::buildTimestampFromParts(parts);
}
else obs->timestamp = mrpt::system::now();
obs->sensorPose = m_sensorPose;
obs->sensorLabel = m_sensorLabel;
appendObservation(obs);
if (packet.containsLatitudeLongitude())
{
XsVector lla_data = packet.latitudeLongitude();
CObservationGPSPtr obsGPS = CObservationGPSPtr( new CObservationGPS() );
CObservationGPS::TGPSDatum_RMC& rGPS = obsGPS->RMC_datum;
rGPS.latitude_degrees = lla_data[0];
rGPS.longitude_degrees = lla_data[1];
if (packet.containsStatus() && packet.status() & XSF_GpsValid)
rGPS.validity_char = 'A';
else
rGPS.validity_char = 'V';
if (packet.containsUtcTime())
{
XsUtcTime utc = packet.utcTime();
rGPS.UTCTime.hour = utc.m_hour;
rGPS.UTCTime.minute = utc.m_minute;
rGPS.UTCTime.sec = utc.m_second + (utc.m_nano * 1000000.0);
}
else
{
rGPS.UTCTime.hour = ((obs->timestamp / (60 * 60 * ((uint64_t)1000000 / 100))) % 24);
rGPS.UTCTime.minute = ((obs->timestamp / (60 * ((uint64_t)1000000 / 100))) % 60);
rGPS.UTCTime.sec = fmod(obs->timestamp / (1000000.0 / 100), 60);
}
obsGPS->has_RMC_datum = true;
obsGPS->timestamp = obs->timestamp;
obsGPS->sensorPose = m_sensorPose;
obsGPS->sensorLabel = m_sensorLabel;
if (packet.containsVelocity())
{
XsVector vel_data = packet.velocity();
rGPS.speed_knots = sqrt(vel_data[0] * vel_data[0] + vel_data[1] * vel_data[1]);
rGPS.direction_degrees = 0; //Could be worked out from velocity and magnatic field perhaps.
}
else rGPS.speed_knots = rGPS.direction_degrees = 0;
appendObservation(obsGPS);
}
std::cout << std::flush;
}
msgs.clear();
#else
THROW_EXCEPTION("MRPT has been compiled with 'BUILD_XSENS_MT4'=OFF, so this class cannot be used.");
#endif
}
bool XSensINS::Iterate() {
AppCastingMOOSApp::Iterate();
// Read Data
XsByteArray data;
XsMessageArray msgs;
m_device.readDataToBuffer(data);
m_device.processBufferedData(data, msgs);
for (XsMessageArray::iterator it = msgs.begin(); it != msgs.end(); ++it) {
// Retrieve a packet
XsDataPacket packet;
packet.setMessage((*it));
// Convert packet to Euler
if(packet.containsOrientation()){
m_euler = packet.orientationEuler();
m_nav_heading = m_euler.yaw();
Notify("IMU_PITCH", m_euler.pitch());
Notify("IMU_ROLL", m_euler.roll());
Notify("NAV_HEADING", m_nav_heading);
}
// Acceleration
if(packet.containsCalibratedAcceleration()){
m_acceleration = packet.calibratedAcceleration();
Notify("IMU_ACC_X", m_acceleration[0]);
Notify("IMU_ACC_Y", m_acceleration[1]);
Notify("IMU_ACC_Z", m_acceleration[2]);
}
//Gyro
if(packet.containsCalibratedGyroscopeData()){
m_gyro = packet.calibratedGyroscopeData();
Notify("IMU_GYR_X", m_gyro[0]*180.0/M_PI);
Notify("IMU_GYR_Y", m_gyro[1]*180.0/M_PI);
Notify("IMU_GYR_Z", m_gyro[2]*180.0/M_PI);
}
//Magneto
if(packet.containsCalibratedMagneticField()){
m_mag = packet.calibratedMagneticField();
Notify("IMU_MAG_X", m_mag[0]);
Notify("IMU_MAG_Y", m_mag[1]);
Notify("IMU_MAG_Z", m_mag[2]);
Notify("IMU_MAG_N", sqrt(pow(m_mag[0], 2) + pow(m_mag[1], 2) + pow(m_mag[2], 2)));
}
//LatLon
if(packet.containsLatitudeLongitude()){
m_latlon = packet.latitudeLongitude();
Notify("INS_LAT", m_latlon[0]);
Notify("INS_LONG", m_latlon[1]);
}
//Velocity
if(packet.containsVelocity()){
m_velocity = packet.velocity();
m_velocity_norm = sqrt(pow(m_velocity[0], 2) + pow(m_velocity[1], 2) + pow(m_velocity[2], 2));
Notify("NAV_SPEED", m_velocity_norm);
}
}
msgs.clear();
AppCastingMOOSApp::PostReport();
return true;
}
/*! \brief Create 64 bit counter for a packet.
\details Wrap when new XsDataPacket is too far away from the previous XsDataPacket in time.
Use half cache size as reasonable time difference
When infinite cache, simply wrap when new is lower than old
\param pack The XsDataPacket that needs its 64-bit sample counter updated
\param highestPacket The highest packet available for the current device, it will be updated if
the new counter is higher than the stored value.
\returns The computed counter for the packet.
*/
int64_t PacketStamper::stampPacket(XsDataPacket& pack, XsDataPacket& highestPacket)
{
// int did = 0;
// if (pack.containsMtwSdiData())
// {
// MtwSdiData sdi = pack.mtwSdiData();
// did = sdi.m_deviceId;
// JLDEBUG(gJournal, "XsensDeviceAPI", "%s [%08x] SDI interval (%d-%d)\n", __FUNCTION__, sdi.m_deviceId, sdi.m_firstFrameNumber, sdi.m_lastFrameNumber);
// }
//! \todo This could be a (couple of) milliseconds too late, this should be set as soon as the source message arrives: mantis 7157
pack.setTimeOfArrival(XsTimeStamp::now());
int64_t newCounter, lastCounter = -1;
if (!highestPacket.empty())
lastCounter = highestPacket.packetId().msTime();
if (pack.containsPacketCounter())
newCounter = calculateLargePacketCounter(pack.packetCounter(), lastCounter);
else if (pack.containsSampleTimeFine())
{
if (pack.containsSampleTimeCoarse())
newCounter = (int64_t) pack.sampleTime64();
else
newCounter = calculateLargeSampleTime((int32_t) pack.sampleTimeFine(), lastCounter);
}
else if (pack.containsPacketCounter8())
newCounter = calculateLargePacketCounter8(pack.packetCounter8(), lastCounter);
else
newCounter = lastCounter + 1;
// JLDEBUG(gJournal, "XsensDeviceAPI", "%s [%08x] old = %I64d new = %I64d diff = %I64d\n", __FUNCTION__, did, lastCounter, newCounter, (newCounter-lastCounter));
pack.setPacketId(newCounter);
if (newCounter > lastCounter)
highestPacket = pack;
return newCounter;
}
/**
* \brief Fills data using XsDataPacket object
* @param _packet Incoming packet from Xsens device.
*/
void SensorData::fillData(XsDataPacket * _packet){
XsDataPacket packet = *_packet;
XsMessage msg = packet.toMessage();
XsSize msg_size = msg.getDataSize();
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "Data Size: " << msg_size);
// Get the orientation data
if (packet.containsOrientation()) {
XsQuaternion quaternion = packet.orientationQuaternion();
q1 = quaternion.m_x;
q2 = quaternion.m_y;
q3 = quaternion.m_z;
q0 = quaternion.m_w;
XsEuler euler = packet.orientationEuler();
eroll = euler.m_roll;
epitch = euler.m_pitch;
eyaw = euler.m_yaw;
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE,"Orientation: Roll:" << std::setw(7) << std::fixed << std::setprecision(2) << euler.m_roll
<< ", Pitch:" << std::setw(7) << std::fixed << std::setprecision(2) << euler.m_pitch
<< ", Yaw:" << std::setw(7) << std::fixed << std::setprecision(2) << euler.m_yaw);
}
// Get the gyroscope data
if (packet.containsCalibratedGyroscopeData()) {
XsVector gyroscope = packet.calibratedGyroscopeData();
gyrX = gyroscope.at(0);
gyrY = gyroscope.at(1);
gyrZ = gyroscope.at(2);
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "Angular Velocity: ( "
<< gyrX << ", " << gyrY << ", " << gyrZ << ")" );
}
// Get the acceleration data
if (packet.containsCalibratedAcceleration()) {
XsVector acceleration = packet.calibratedAcceleration();
accX = acceleration.at(0);
accY = acceleration.at(1);
accZ = acceleration.at(2);
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "Linear Acceleration: ("
<< accX << "," << accX << "," << accZ << ")" );
}
//Get the altitude data
if(packet.containsAltitude()){
mAltitude = packet.altitude();
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "containsAltitude: ");
}
//Get the Latitude and Longitude Data
if(packet.containsLatitudeLongitude()){
XsVector latlon = packet.latitudeLongitude();
mLatitude = latlon[0];
mLongitude = latlon[1];
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "containsLatitudeLongitude");
}
// Get the magnetic field data
if (packet.containsCalibratedMagneticField()) {
XsVector magneticField = packet.calibratedMagneticField();
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "Magnetic Field: ("<< magneticField[0] <<" , "
<< magneticField[1] << " , "<< magneticField[2] << ")");
magX = magneticField.at(0);
magY = magneticField.at(1);
magZ = magneticField.at(2);
}
// Get Temperature data
if (packet.containsTemperature()){
double temperature = packet.temperature();
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "Temperature : " << temperature);
mTemperature = temperature;
}
// Get Pressure Data
if(packet.containsPressure() ){
XsPressure pressure = packet.pressure();
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "Pressure : " << pressure.m_pressure);
mPressure= pressure.m_pressure;
}
// Get Velocity Data
if( packet.containsVelocity() ){
XsVector velocity = packet.velocity();
mVelocityX = velocity.at(0);
mVelocityY = velocity.at(1);
mVelocityZ = velocity.at(2);
ROS_INFO_STREAM(" Velocity [ x (east) : " << mVelocityX << ", y (north) : "
<< mVelocityY << ", z (up) " << mVelocityZ << " ]");
}
// Get GPS PVT Data
if( packet.containsGpsPvtData() ){
XsGpsPvtData gpsPvtData = packet.gpsPvtData();
ROS_INFO_STREAM(" Horizontal accuracy: " << gpsPvtData.m_hacc );
}
if(packet.containsRawAcceleration() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "Raw Acceleration") ;}
if(packet.containsRawGyroscopeData() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "Raw Gyroscope") ;}
if(packet.containsRawGyroscopeTemperatureData() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "RawGyrTemp");}
if(packet.containsRawMagneticField() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "RawMag");}
if(packet.containsRawTemperature() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "RawTemp");}
if(packet.containsRawData() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "RawData");}
if(packet.containsCalibratedData() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "Calib Data");}
if(packet.containsSdiData() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "SDI");}
//if(packet.containsStatusByte() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "StatusByte");}
if(packet.containsDetailedStatus() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "DetailedStatus");}
if(packet.containsPacketCounter8() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "PacketCounter8");}
if(packet.containsPacketCounter() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "PacketCounter");}
if(packet.containsSampleTimeFine() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "SampleTimeFine");}
if(packet.containsSampleTimeCoarse() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "SampleTimeCoarse");}
if(packet.containsSampleTime64() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "SampleTime64");}
if(packet.containsFreeAcceleration() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "FreeAcceleration");}
if(packet.containsPressureAge() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "PressureAge");}
if(packet.containsAnalogIn1Data() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "AN1IN");}
if(packet.containsAnalogIn2Data() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "AN2IN");}
if(packet.containsPositionLLA() ){
XsVector posLLA = packet.positionLLA();
mLatitude = posLLA[0];
mLongitude = posLLA[1];
mAltitude = posLLA[2];
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "mLatitude = " << mLatitude);
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "mLongitude = " << mLongitude);
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "mAltitude = " << mAltitude);
//for(int i=0; i < posLLA.size(); i++){
//ROS_INFO_STREAM("posLLA[" << i << "] : " << posLLA[i] );
//}
}
if(packet.containsUtcTime() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "UTC-Time");}
if(packet.containsFrameRange() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "Frame Range");}
if(packet.containsRssi() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "RSSI");}
if(packet.containsRawGpsDop() ){
//ROS_INFO_THROTTLE(THROTTLE_VALUE, "DOP");}
XsRawGpsDop dop = packet.rawGpsDop();
m_gdop = ((float) dop.m_gdop)/100;
m_pdop = ((float) dop.m_pdop)/100;
m_tdop = ((float) dop.m_tdop)/100;
m_vdop = ((float) dop.m_vdop)/100;
m_hdop = ((float) dop.m_hdop)/100;
m_edop = ((float) dop.m_edop)/100;
m_ndop = ((float) dop.m_ndop)/100;
m_itow = ((float) dop.m_itow)/1000;
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE,
"GDOP = " << m_gdop <<
",PDOP = " << m_pdop <<
",TDOP = " << m_tdop <<
",VDOP = " << m_vdop <<
",HDOP = " << m_hdop <<
",EDOP = " << m_edop <<
",NDOP = " << m_ndop <<
",ITOW = " << m_itow);
}
if(packet.containsRawGpsSol() ){
// ROS_INFO_THROTTLE(THROTTLE_VALUE, "SOL");}
XsRawGpsSol sol = packet.rawGpsSol();
mPositionAccuracy = sol.m_pacc;
mSpeedAccuracy = sol.m_sacc;
mSatelliteNumber = sol.m_numsv;
mGpsFixStatus = sol.m_gpsfix;
gpsVelocityX=sol.m_ecef_vx/100;
gpsVelocityY=sol.m_ecef_vy/100;
gpsVelocityZ=sol.m_ecef_vz/100;
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE,
"Pos Acc = " << mPositionAccuracy <<
",Speed Acc = " << mSpeedAccuracy <<
",Sat Number = " << mSatelliteNumber <<
",GPS FIX = " << std::hex << mGpsFixStatus);
}
if(packet.containsRawGpsTimeUtc() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "GPS-UTC");}
if(packet.containsRawGpsSvInfo() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "SV INFO");}
// if(packet.containsTriggerIndication() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "TRIGGER");}
//Get Status byte
if( packet.containsStatus() ){
mStatus = packet.status();
ROS_INFO_THROTTLE(10, "Status: %.8X", mStatus);
}
}