ApolloAuto/apollo

关于Apollo RTK几个问题请教

Closed this issue · 4 comments

Triangle001 commented

Apollo 开发者，您好！
几个关于定位的问题请教：
1.通过接收解算方式：rtk_solution_type: RTK_RECEIVER_SOLUTION，
rtk_to {
format: NOVATEL_BINARY
serial {
device: "/dev/ttyUSB0"
baud_rate: 115200
}
} 这里配置把rtcm差分数据发送到接收器，接收器解算后，
Apollo怎样接收解算后的精确定位数据，修改那个配置文件呢？

2.启动localization模块后，代码rtk_localization.cc中的83行：
if (AdapterManager::GetGps()->Empty()) {
成立。请问是什么原因导致AdapterManager::GetGps()->Empty()？该怎么操作使AdapterManager::GetGps()返回不为空？

谢谢。

jilinzhou commented

Gps messages are published by gnss driver. Take a look data_parser.cc where both Gps and Imu messages are published.

Triangle001 commented

in data_parser.cc line 135： if (type == Parser::MessageType::NONE) break; done，what should i do ? Thanks.

Triangle001 commented

apollo提供了将NMEA-0183 格式的数据解析成proto类型的代码吗？

  • 🚀2
daohu527 commented

Closed due to inactivity. If the problem persists, pls feel free to reopen it or create a new one and refer to it.