Exwayz GNSS to pose aims at outputing a 6DoF pose from one our multiple GNSS inputs.

It can work in multiple modes explained briefly below

Inputs 6Dof pose estimation method
Single GNSS Estimate a heading by using consecutive GNSS projected positions with a minimum distance between them (typically 10cm)
Dual GNSS Estimate a heading using the two GNSS projected positions, which give a first axis and deduce the remaining ones with basic geometry.
Quad GNSS Estimate a heading using the 4 GNSS projected positions for deducing a pose with basic geomtry

More explanation and schemes can be found in Understand the GNSS to pose modes.

Default YAML

Below is the example gnss_to_pose.yaml configuration file with all parameters open to the user. The comments are the main documentation of each parameters.

# [optional] custom proj directory if you want to specify a custom location 
# on your computer
# proj_dir: <path-to-proj-dir>

gnss_to_pose:
    # [optional, default=0] pose generation mode
    #   * 0: single antenna
    #   * 1: (rtmaps only) single antenna + heading
    #   * 2: dual antenna
    #   * 3: quad antenna
    mode: 0

    # [optional] Destination CRS. e.g. use EPSG:32631 for UTM zone 31N.
    dst_crs: EPSG:32631
    # [optional, default=[0.0, 0.0, 0.0]] Offset retrieved from the projected 
    # position for generating the output pose. 
    offset: [0.0, 0.0, 0.0]  

    # [optional] Maximum standard deviation. Measure coming with a great stddev 
    # than the defined value will be ignored.
    max_std_dev: 1.0
    # [optional] Quality filter. All incoming GNSS values who's quality indicator
    # isn't part of the list below are discarded. In ROS, the NavSatFix status
    # is used as a quality filter.
    quality_filter: [4]
    # [optional, default=0.2(m)] (mode 0 only) Minimum distance between measures
    #  to estimate heading
    d_heading_estimation: 0.2

    # [required] (ros only) ROS parameters
    ros:
        # [optional, default=/exwayz/gnss_to_pose] output namespace, prepends 
        # all outputs.
        namespace: /exwayz/gnss_to_pose

        # [required] (mode 0 only) Input NavSatFix settigs.
        input_navsatfix:
            # [required] topic name
            topic: <topic-name>

        # [required] (mode 2 only) Input NavSatFix settigs of the left antenna
        input_navsatfix_left:
            # [required] topic name
            topic: <topic-name>

        # [required] (mode 2 only) Input NavSatFix settigs of the right antenna
        input_navsatfix_right:
            # [required] topic name
            topic:  <topic-name>

        # [optional] Output Odometry settings.
        output_odometry:
            # [optional, default=/odometry] Topic name
            topic: /odometry
            # [optional, default=xyz_map] Odometry message header frame_id
            parent_frame_id: xyz_map
            # [optional, default=gnss_to_pose] Odometry message child_frame_id
            child_frame_id: gnss_to_pose
            # [optional, default=false] Optionally inverts output pose and 
            # frame_ids
            invert: false

    # [optional] (rtmaps only) rtmaps parameters
    rtmaps:
        # [optional] Number of satellites filter. All incoming GNSS values 
        # who's number of satellites is below the minimum are discarded
        min_num_satellites: 5
        # [optional, default=100] Synchronization tolerance between the multiple
        # GNSS inputs in milliseconds
        sync_tolerance: 100 
        # [optional, default=2000] read timeout in milliseconds
        input_reads_timeout: 2000
        # [optional, default=0] UTC time mode
        #   * 0: hhmmss.ssss in a single number, as output by the RTMaps GGA 
        #        converter
        #   * 1: UTC time in seconds
        #   * 2: UTC time in microseconds
        #   * 3: UTC time in nanoseconds
        utc_time_mode: 2
        # [optional, default=false] In UTC time mode 0 the output timestmap is 
        # in seconds from top of the day. Set this boolean to true so GNSSToPose
        # computes the timestamp offset between top of the day and unix 
        # timstamp by using message software timestamp.
        timestamp_auto_offset: true
        # [optional, default=false] When plugged to GGA NMEA component the lla 
        # vector size is 4:
        #   * lla[2] contains geoidal height.
        #   * lla[3] contains ellipsoidal height.
        # By default, GNSSTOPose outputs geoidal height. Set this boolean to
        # true to force output ellipsoidal height.
        gga_height_ellipsoid: false

Explanation

mode

dst_crs

offset

max_std_dev

quality_filter

d_heading_estimation

API-specific I/O parameters

ros

rtmaps