Merge branch 'master' into tcp_support

.gitignore

@@ -16,7 +16,7 @@ init_rovio_npose0/launch/debug_tf_frames.launch
 *.config
 
 # Logs geodetic surveys
-piksi_multi_rtk_gps/log_surveys/2*.txt
+piksi_multi_rtk_ros/log_surveys/2*.txt
 
 # KML files.
 /kml/*

README.md

@@ -10,7 +10,7 @@ This repository contains (python) ROS drivers, tools, launch files, and wikis ab
 Example GPS RTK setup: the Base Station knows its position (after geodetic survey) and can send RTK corrections over Xbee and Wifi to the Rover, which can then compute its accurate position.
 ![RTK setup](https://user-images.githubusercontent.com/15651057/33481271-0b1b97ca-d694-11e7-8650-d3c7d2e54f7d.jpg)
 
-Average time for Piksi Multi to get an RTK FIX:
+Average time for Piksi Multi to get an RTK FIX (obtained with Piksi Multi Firmware 1.2.14 and lib sbp 2.2.15):
 ![Piksi Multi Avg Fix Time](https://user-images.githubusercontent.com/15651057/33422109-c4559d8e-d5b4-11e7-91fc-ee0947c731d1.png)
 
 Overview

ethz_piksi_ros/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>ethz_piksi_ros</name>
-  <version>1.0.0</version>
+  <version>1.0.3</version>
   <description>Meta-package for the ethz_piksi_ros repository.</description>
 
   <maintainer email="marcot@ethz.ch">Marco Tranzatto</maintainer>

piksi_multi_rtk_ros/README.md

@@ -9,13 +9,6 @@ The piksi_multi_rtk_ros package has been tested under:
 **WARNING:** default baud rate of the driver is set to '230400' (default baud rate of Piksi Multi is '115200'). This means you have to set your Piksi Multi baud rate correctly by following [these settings instructions](https://github.com/ethz-asl/ethz_piksi_ros/wiki/Installing-and-Configuring-Your-Piksi#settings).
 
 ## Installation and Configuration
-
-### Dependencies
-  * python-pip `sudo apt-get install python-pip`
-  * python-tox `sudo apt-get install python-tox`
-  * pandoc     `sudo apt-get install pandoc`
-
-### Installation
 **WARNING: install __ONLY ONE__ version of SBP library, depending of which Hardware version you are using. This page cointains the driver for [Piksi Multi](https://www.swiftnav.com/piksi-multi).
 If you are using [Piksi V2](http://docs.swiftnav.com/pdfs/piksi_datasheet_v2.3.1.pdf) please check its driver version: [piksi_rtk_gps](https://github.com/ethz-asl/mav_rtk_gps/tree/master/piksi_rtk_gps)** (it is not supported anymore).
 
@@ -26,6 +19,11 @@ The following code will automatically download the required version of libsbp an
 source install/install_piksi_multi.sh
 ```
 
+### Firmware and SBP Lib Version
+Please check [here](https://support.swiftnav.com/customer/en/portal/articles/2492810-swift-binary-protocol) which Piksi Multi fimrware version based on the current SBP Lib version.
+
+Currently the `install_piksi_multi.sh` will install SBP Lib 2.2.15 (see [REPO_TAG](https://github.com/ethz-asl/ethz_piksi_ros/blob/master/piksi_multi_rtk_ros/install/install_piksi_multi.sh#L4)). This means you are supposed to install Firmware 1.2.14 from [SwiftNav Firmware page](https://support.swiftnav.com/customer/en/portal/articles/2492784-piksi-multi-and-duro-firmware) in your Piksi Multi.
+
 ## Usage
 **Make sure** you configured your Piksi(s) by following [these instructions](https://github.com/ethz-asl/ethz_piksi_ros/wiki/Installing-and-Configuring-Your-Piksi).
 

piksi_multi_rtk_ros/cfg/piksi_multi_driver_settings.yaml

@@ -5,11 +5,15 @@
 # if this value is not valid, the driver will default to serial communication
 interface: 'serial'
 
+# set this to true if the Swift device is acting as RTK Base Station.
 base_station_mode: false
 
-# debug_mode: if true, output every topic read by this driver
+# if true, output every topic read by this driver
 debug_mode: false
 
+# if true the driver is verbose.
+driver_verbose: true
+
 # broadcast_addr: ip address to use for broadcasting corrections
 # whenever possible, use network broadcast, not global ip broadcast
 # use ifconfig to show network broadcast (or calculate it yourself....).

piksi_multi_rtk_ros/install/install_piksi_multi.sh

@@ -22,7 +22,7 @@ git checkout $REPO_TAG
 # Remove other Python libsbp, if any
 if ls $SBP_PYTHON_DIRECTORY 1> /dev/null 2>&1; then
 	echo " "
-    echo "Another version of libssbo is already installed in the system."
+    echo "Another version of libsbp is already installed in the system."
     echo "Do you wish to remove it and install version $REPO_TAG ? [y or Y to accept]"
 	read remove_other_libspb
 

piksi_multi_rtk_ros/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>piksi_multi_rtk_ros</name>
-  <version>1.0.1</version>
+  <version>1.0.5</version>
   <description>
     ROS driver for Piksi Multi RTK GPS Receiver.
   </description>

piksi_multi_rtk_ros/src/piksi_multi.py

@@ -97,7 +97,8 @@ def __init__(self):
                 raise
 
         # Create a handler to connect Piksi driver to callbacks.
-        self.framer = Framer(self.driver.read, self.driver.write, verbose=True)
+        self.driver_verbose = rospy.get_param('~driver_verbose', True)
+        self.framer = Framer(self.driver.read, self.driver.write, verbose=self.driver_verbose)
         self.handler = Handler(self.framer)
 
         self.debug_mode = rospy.get_param('~debug_mode', False)
@@ -215,15 +216,15 @@ def create_topic_callbacks(self):
         self.init_callback('vel_ned', VelNed,
                            SBP_MSG_VEL_NED, MsgVelNED,
                            'tow', 'n', 'e', 'd', 'h_accuracy', 'v_accuracy', 'n_sats', 'flags')
-        self.init_callback('imu_raw', ImuRawMulti,
+        self.init_callback('imu_raw_multi', ImuRawMulti,
                            SBP_MSG_IMU_RAW, MsgImuRaw,
                            'tow', 'tow_f', 'acc_x', 'acc_y', 'acc_z', 'gyr_x', 'gyr_y', 'gyr_z')
         self.init_callback('imu_aux', ImuAuxMulti,
                            SBP_MSG_IMU_AUX, MsgImuAux, 'imu_type', 'temp', 'imu_conf')
         self.init_callback('log', Log,
                            SBP_MSG_LOG, MsgLog, 'level', 'text')
         self.init_callback('baseline_heading', BaselineHeading,
-                           SBP_MSG_BASELINE_HEADING, BaselineHeading, 'tow', 'heading', 'n_sats', 'flags')
+                           SBP_MSG_BASELINE_HEADING, MsgBaselineHeading, 'tow', 'heading', 'n_sats', 'flags')
         self.init_callback('age_of_corrections', AgeOfCorrections,
                            SBP_MSG_AGE_CORRECTIONS, MsgAgeCorrections, 'tow', 'age')