Feature/ppk scripts #186
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Feature/ppk scripts #186
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New base class was set up handling the listener subscriptions to message callbacks. Object can inherit from this class and set up callbacks for any group of SBP Message (observation, emphemeris, ...) .
Adds 3 lambda functions. Corresponding methods have been added to cb_to_raw_obs_converter as well.
Wrong message type was copy pasted to sbp_send_message method
- File logger is initialized in own method if in launch file logging is set to true. - Per default logger is off. Default binary directory is: /tmp/tmp_observations.sbp - Sender id was moved down to receiver_ros, so that every receiver stores its own ID, and not only the base station (sender id is needed for logging)
Changed back class names to "observation". Ephemeris can also be considered an observation
Also added prefix to observation file with the type of receiver, hopefully this allows to store observations from multiple connected receivers into different files.
Can start and stop logger for attitude and position receiver independently. If a custom name is set, the file is not overwritten when logging restarted but rather a number is added as appendix preventing accidental loss of observation files.
…lso added python script which takes the solution and adds them to an existing Rosbag.
Can be used if trying to get correct position for base station for example.
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PR #174 should be merged before this one |
…lder Now user has to specify if reference files should be loaded from an sbp binary or from swisspos files.
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Convenience scripts for creating PPK solutions using RTKLIB
This PR contains two scripts:
I used/tested sbp2pos quite often already and it seems to work fairly well. Pos2bag still needs some work though. Especially determining the time offset between the to-be-added PPK positions and the rosbag time needs a bit more work.