applanix_bridge package from applanix_driver repo

applanix_bridge applanix_driver applanix_msgs

Package Summary

Tags No category tags.
Version 0.0.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/clearpathrobotics/applanix_driver.git
VCS Type git
VCS Version hydro-devel
Last Updated 2016-07-26
Dev Status MAINTAINED
Released RELEASED

Package Description

Contains the adapter node which translates between the Applanix serialized socket format and ROS messages. This node is implemented in Python for now, but could be re-implemented using roscpp if performance is a bottleneck.

Additional Links

Maintainers

  • Kareem Shehata

Authors

  • Mike Purvis
README
No README found. See repository README.
CHANGELOG

Changelog for package applanix_bridge

0.0.11 (2015-05-27)

  • Fixed the way exceptions are raised when bad data is received
  • Contributors: Kareem Shehata

0.0.10 (2015-05-04)

  • Applanix driver will now set the /gps_origin parameter if not set at startup with the origin used for fixes
  • Contributors: Kareem Shehata

0.0.9 (2015-04-10)

  • Added a parameter for setting the origin in publisher.py. If not set, and zero_start is set then the first GPS fix is used. Otherwise, default is UTM.
  • Contributors: Kareem Shehata

0.0.8 (2015-03-10)

  • Renaming example launch for more general use.
  • Parameterizing the applanix_bridge launch file
  • Contributors: Kareem Shehata

0.0.7 (2015-02-28)

  • Adding launch file for publishing Odometry and TF. Useful for adding Odometry and TF's when using bag files that don't include them
  • Fixed orientation mapping when publishing Odometry and converting from NED to ENU
  • Contributors: Kareem Shehata

0.0.6 (2014-12-10)

  • Gams param max_heading_error_rms has to be assigned to 3.0 degrees default and cannot be zero.
  • Contributors: Vaibhav Kumar Mehta

0.0.5 (2014-12-09)

  • Typo in the imu angular velocity z component is fixed. All the required NED (/reference or /vehicle for Applanix) to ENU (/base_footprint or /base_link in ROS) frame conversions are applied to get correct Pose and twist data.
  • gams params, dmi params and some geometry params added to be configured correctly. some sample values are provided in the example.launch also added in this commit
  • launch file updated as auxiliary gnss to reference frame lever is not neeeded.
  • updated the launch file with correct installation parameters for applanix
  • Origin now includes the z dimension or altitude so that the odometry msgs are w.r.t. the current surface and not the sea level. quaternion assignment in tf broadcaster had a bug which is fixed now.
  • Fixing typo in publisher.py, we Transfrom != Transform
  • Contributors: Vaibhav Kumar Mehta

0.0.4 (2014-09-18)

  • Removing diagnostic_msgs from find_package because it isn't needed at build, it's handled by the run_depends, and it makes the build servers cry.
  • Contributors: Kareem Shehata

0.0.2 (2014-09-16)

  • Increased queue size to 5 since data smoke test fails otherwise
  • Added queue sizes on Publishers to make Indigo complain less
  • Added dependency on geodesy
  • Merged applanix_msgs with applanix_srvs and adapted the mapping.py script to generate all of the required elements. Updated the CMakeLists.txt for applanix_msgs to generate services and AllMsgs. Updated applanix_bridge for the changes.
  • Contributors: Kareem Shehata

0.0.1 (2014-09-04)

0.0.0 (2014-09-04)

  • Adding install targets
  • Replaced the gps_utm.py with a call to geodesy.utm. Should work, but not well tested.
  • Cleaned up the dependencies from applanix_bridge
  • Changing maintainer of the applanix modules to be me
  • Fixed package names in launch file
  • Removed a bunch of the chunky comments from the CMakeLists.txt for all of the sub projects.
  • Moved the smoke test into the applanix_bridge package. It seems to work. At the very least it passes, though it does spit out a bunch of warnings.
  • Moved mapping.py back to applanix_msgs because it's needed by applanix_bridge and it makes more sense for it to be there. Also updated applanix_bridge to use the new applanix_srvs package.
  • Updated applanix_msgs to generate messages so that applanix_bridge can use them.
  • Making applanix_bridge into a proper rospy package that you can run. Can now run things, though they fail because of the missing applanix_msgs. Also note that I've removed a bunch of the dependencies until I can figure out how to do those properly.
  • First stage of catkinizing: catkin metapackage, and consolidate the python stuff into applanix_bridge. Have yet to update the CMakeLists.txt for the applanix_bridge package to work properly. Also need a setup.py
  • Fixed translator for use in Hydro. Seems to work in testing on the Tango Tasmania platform.
  • Switch the translator to use separate genpy package.
  • Adding capture file and basic smoke test to driver.
  • Moving gps_utm file to correct package.
  • Added some minimal documentation to the manifests, moved publisher to its own package.
  • Adding code headers to everything.
  • Now publishing the origin of our UTM coordinates wrt. the UTM zone zero point
  • Small cleanup of unnecessary shebangs, etc.
  • Adding option to autoset a UTM origin
  • Added params for base gnss setup.
  • Adding COM port configuration
  • Adding translation node to convert Applanix messages into standard ROS messages
  • Stomped on merge changes. 'master' should now match 'work'.
  • Merge branch 'work'
  • rename applanix_ctl to applanix_generated_msgs
  • Auto-subscribe now working.
  • Add nav_mode messages every 5s to keep connection alive.
  • Working COM port params.
  • Initial support for services.
  • Last commit before refactoring to separate thread class per socket.
  • Add remaining groups, change the array serialization strategy.
  • First commit.
  • Contributors: Administrator, Alex Bencz, Kareem Shehata, Mike Purvis, Ryan Gariepy

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

  • launch/publish_tf.launch
  • launch/applanix_bridge.launch
      • param_file [default: $(find applanix_bridge)/launch/default_config.yaml]
      • publish_tf [default: True]
      • odom_frame [default: gps_odom]
      • base_frame [default: base_link]
      • zero_start [default: False]
      • origin [default: None]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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