solution by GNSS NavSatFix topic

[Mahmoudadham4040]

Thank you for sharing your code and making it available. I have a ROS bag file that contains GNSS position solutions as the NavSatFix topic, along with IMU and camera topics. However, I do not have the raw GNSS measurements in my file. Could you kindly advise on how I can run your code with these available topics? Any modifications or specific steps to adapt the input would be greatly appreciated.

[chichengcn]

We support NavSatFix as ROS input, check out ros_stream.cpp and search keywords "navsatfix", "NavSatFix", and "navSatFixCallback". You may modify function navSatFixCallback to configure the behavior of covariance input, since it will strongly affect the GNSS/INS LC estimator. Other configurations are similar to a GNSS/INS LC estimator shown in our example yaml files. The difference is that you do not need to apply a GNSS estimator to generate GNSS solutions, just directly set the NavSatFix topic as one of the inputs via input_tags and name its behavior via xxx_roles.