GVINS学习记录1-消息订阅

最新推荐文章于 2025-04-01 10:54:18 发布

cxz932652580

最新推荐文章于 2025-04-01 10:54:18 发布

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分类专栏：因子图文章标签：自动驾驶 c++

本文链接：https://blog.csdn.net/cxz932652580/article/details/120344389

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博客详细介绍了GVINS在处理自动驾驶中GNSS数据的过程，包括订阅星历信息和观测信息的消息类型，如/ublox_driver/ephem和/ublox_driver/range_meas，并在gnss_ros.cpp和estimator.cpp等文件中进行处理。

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sports_field.bag 的消息类型

xmu@xmu-NUC8i7BEH:~/data$ rosbag info sports_field.bag 
path:        sports_field.bag
version:     2.0
duration:    25:10s (1510s)
start:       Nov 30 2020 07:18:13.45 (1606691893.45)
end:         Nov 30 2020 07:43:23.61 (1606693403.61)
size:        20.5 GB
messages:    412007
compression: none [20137/20137 chunks]
types:       gnss_comm/GnssEphemMsg         [b4346f99e431c870e392a438684c0fe8]
             gnss_comm/GnssGloEphemMsg      [6893dee0d8b1c9325a6693f3488e0144]
             gnss_comm/GnssMeasMsg          [0eafeb530a3e6637722c4e296734c119]
             gnss_comm/GnssPVTSolnMsg       [d18171357d7a159f76d4d7c0b12fb631]
             gnss_comm/GnssTimePulseInfoMsg [de306035e295e3c4b1e0771a216b495a]
             gnss_comm/StampedFloat64Array  [fb60495edd59d3fcf90e173153ae8a9a]
             gvins/VISensorExternalTrigger  [a5f284fbc0b54d0c397033867d8565f1]
             sensor_msgs/Image              [060021388200f6f0f447d0fcd9c64743]
             sensor_msgs/Imu                [6a62c6daae103f4ff57a132d6f95cec2]
             sensor_msgs/NavSatFix          [2d3a8cd499b9b4a0249fb98fd05cfa48]
topics:      /cam0/image_raw                  30204 msgs    : sensor_msgs/Image             
             /cam1/image_raw                  30205 msgs    : sensor_msgs/Image             
             /external_trigger                  302 msgs    : gvins/VISensorExternalTrigger 
             /imu0                           302050 msgs    : sensor_msgs/Imu               
             /ublox_driver/ephem               1251 msgs    : gnss_comm/GnssEphemMsg        
             /ublox_driver/glo_ephem            528 msgs    : gnss_comm/GnssGloEphemMsg     
             /ublox_driver/iono_params          698 msgs    : gnss_comm/StampedFloat64Array 
             /ublox_driver/range_meas         15103 msgs    : gnss_comm/GnssMeasMsg         
             /ublox_driver/receiver_lla       15078 msgs    : sensor_msgs/NavSatFix

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