pointonenav / fusion-engine-client Goto Github PK

See this example: https://gist.github.com/jsmorph/26c63d2bf84b7e2e041f

Building on @jimenezjose 's ROS2 port I have made some changes and verified it worked here: https://github.com/airacingtech/fusion-engine-client/tree/sid/ros2

I made some changes to make it a more ready ROS2 build as the previous version did not fit in a workspace as well. I made the UDP client and TCP client testers ROS2 nodes and added options in the Atlas driver to run on either UDP or TCP connection (former added by @jimenezjose ). It publishes GPSFix, IMU, NavSatFix and PoseStamped messages (former 2 added by @jimenezjose )

If the Fusion Engine Client can be made into an apt package that can be included instead of having to include it in the repo. That will keep the ROS2 package more or less in sync with latest changes without having to rebase constantly. I also see @jimenezjose 's fork has some more changes. If we can find a way to integrate these 2 that will be ideal (Which is why this is an Issue and not a PR)

Is it possible to sync the fusion engline client with PTP (just for timestamp purposes)? I want all my sensors to be on the same time scale and the Point One Nav is the only one remaining. This is with reference to the Timestamps in the ros header file

Instead of showing velocity and velocity standard deviation, the standard deviation plot is populated with velocity, again.

Any chance Rust support (for message definitions, at least) is planned?

Here are the steps I followed

git clone https://github.com/PointOneNav/fusion-engine-client.git
mv fusion-engine-client/examples/external_cmake_project/ .
rm -rf fusion-engine-client
cd external_cmake_project
mkdir build
cd build
cmake ..
make

At make it fails with the following error

external_cmake_project/main.cc:14:10: fatal error: point_one/fusion_engine/messages/core.h: No such file or directory

Here is the relevant codebase: https://github.com/sisaha9/fusion_engine_ros_driver

I bind the function to the framer here: https://github.com/sisaha9/fusion_engine_ros_driver/blob/0c128b3ebfa7824a57e62542b7b19506e2a8f257/src/fusion_engine_ros_driver_node.cpp#L42

I send the data here: https://github.com/sisaha9/fusion_engine_ros_driver/blob/0c128b3ebfa7824a57e62542b7b19506e2a8f257/src/fusion_engine_ros_driver_utils.cpp#L102

I can confirm that function is being called. The buffer size for framer was initialized to 1024 while the incoming messages from my quectel devices were of sizes 98, 256, 179 and 75. The callback functions is filled here: https://github.com/sisaha9/fusion_engine_ros_driver/blob/stable/src/fusion_engine_ros_driver_node.cpp#L64. So far that function has not been called and the code has never errored out