The purpose of the Writer nav is to write navigation-related data, such as SLAM sessions, but also GNSS trajectory or any other trajectory.

Default YAML

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

writer_nav:
    # [optional, default=true] Enable / disable the writing 
    enable: true

    # [optional, default=slam_session] Output directoryn (created automatically) 
    output_dir: slam_session
    # [optional, default=true] Append date automatically to output directory
    append_date: true
    # [optional, default=0.0] Minimum distance in meters between two consecutive
    # written point clouds.
    d_write: 2.0

    trajectories:
          # [required] name of the input topic
        - topic: <topic-name-0>
          # [optional, default=0] (ros only) type of the input topic.
          #   * 0: Odometry
          #   * 1: NavSatFix
          type: 1
          # [required] Output path for trajectory file
          path: <traj-path-or-name>
          # [optional] CRS for output trajectory. For example EPSG:32631 for 
          # UTM31N
          crs: <output-crs>
          # [optional][default=false] Is output trajectory relative to output_dir
          relative: true

        - topic: <topic-name-0>
          type: 0
          path: <traj-path-or-name>
          relative: true

    # [optional] (ros only) ROS parameters
    ros:
        # [optional] Input PointCloud2 topic from SLAM or relocalization for 
        # writing frames
        input_pointcloud2:
            topic: /exwayz/slam/pointcloud2

        # [optional] Input Odometry topic from SLAM or relocalization for 
        # writing trajectory
        input_odometry:
            topic: /exwayz/slam/odometry

Explanation

enable

output_dir

append_date

d_write

trajectories

API-specific I/O parameters

ros