Set antenna offsets

[DavidTMuc]

Hello,

I have a VN-300 Dual GNSS and wondering if I could set the Antenna positions directly in your code, instead of the VectorNavs control center??

Thanks!!

[DavidTMuc]

Here are the settings in the Control Center as an example.

[dawonn]

The ROS2 driver supports this via parameters, but the ROS1 version doesn't. You'll have to open up main.cbp and add a little section to set those parameters, but it should be pretty straightforward, don't be too afraid. ;)

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On Mon, Aug 16, 2021, 16:05 DavidTMuc ***@***.***> wrote: [image: image] <https://user-images.githubusercontent.com/84916423/129622804-097f8de4-30f8-4d4f-97e8-56d72f6ac9c6.png> [image: image] <https://user-images.githubusercontent.com/84916423/129622864-013d47af-497c-474e-974b-1ad0759b80f6.png> Here are the settings in the Control Center as an example. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#77 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAXHVFZLZ7KTUBHMH3Z3YRDT5FVQBANCNFSM5CIM2MOA> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&utm_campaign=notification-email> .

[DavidTMuc]

It finally worked!! In the following the code:
// Set Antenna position
vec3f antenna_position(1.1, 2.2, 3.3);
vs.writeGpsAntennaOffset(user_data.antenna_position, false);
vec3f base_line_position(1.1, 2.2, 3.3);
vec3f base_line_uncertainity(0.1, 0.2, 0.3);
vs.writeGpsCompassBaseline(user_data.base_line_position,user_data.base_line_uncertainity, false);
vs.writeSettings();

Now I wonder how I could refer to this in the launch file. Could you give me an advice - especially regarding the node handle, which I have to use to solve this issue, I guess?

Thank you!!

[dawonn]

Yep, use the ROS parameter system to read in those parameters from a launch file. You can see some examples where I have a parameter for the serial port and baud rate.

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On Wed, Aug 18, 2021, 18:16 DavidTMuc ***@***.***> wrote: It finally worked!! In the following the code: // Set Antenna position vec3f antenna_position(1.1, 2.2, 3.3); vs.writeGpsAntennaOffset(user_data.antenna_position, false); vec3f base_line_position(1.1, 2.2, 3.3); vec3f base_line_uncertainity(0.1, 0.2, 0.3); vs.writeGpsCompassBaseline(user_data.base_line_position,user_data.base_line_uncertainity, false); vs.writeSettings(); Now I wonder how I could refer to this in the launch file. Could you give me an advice - especially regarding the node handle, which I have to use to solve this issue, I guess? Thank you!! — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#77 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAXHVF2E2O4KZZMLL5KSMP3T5QWLTANCNFSM5CIM2MOA> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&utm_campaign=notification-email> .