airacingtech / car_heading_generator

Car Heading Generator

Takes2 GNSS inputs and generates heading from it. Assumes one is front and the other is back. This is done in ENU frame

Getting Started

Install driver dependencies:

$ mkdir -p ~/ros2_ws/src
$ cd ~/ros2_ws/src
$ git clone https://github.com/airacingtech/car_heading_generator
$ cd ~/ros2_ws
$ sudo apt update
$ sudo rosdep update
$ rosdep install -y --ignore-src --from-paths src/

Run Car Heading Generator Node

Edit the parameters in param/car_heading_generator.param.yaml

In launch/car_heading_generator.launch.py you can change the remappings so that the data gets published/subscribed in different topics. Otherwise those will be the defaults

$ cd ~/ros2_ws
$ source /opt/ros/galactic/setup.bash
$ colcon build
$ source install/local_setup.bash
$ ros2 launch car_heading_generator car_heading_generator.launch.py