From 519aa3d31f20db65c6c2b969452f137e3a38ac81 Mon Sep 17 00:00:00 2001 From: Marco Tranzatto Date: Thu, 21 Feb 2019 18:27:33 +0100 Subject: [PATCH 1/2] [Multi] updatead readme file --- piksi_multi_rtk_ros/README.md | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/piksi_multi_rtk_ros/README.md b/piksi_multi_rtk_ros/README.md index 589dbc6b..2d372048 100644 --- a/piksi_multi_rtk_ros/README.md +++ b/piksi_multi_rtk_ros/README.md @@ -7,7 +7,7 @@ The piksi_multi_rtk_ros package has been tested under ROS Indigo and Ubuntu 14.0 **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-Multi#settings). - + ## Installation and Configuration **WARNING: install __ONLY ONE__ version of SBP library, depending of which Hardware version you are using. This page contains 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). @@ -22,8 +22,9 @@ 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 firmware version based on the current SBP Lib version. -Currently the `install_piksi_multi.sh` will install **SBP Lib 2.3.15** (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 1.5.12** from [SwiftNav Firmware page](https://support.swiftnav.com/customer/en/portal/articles/2492784-piksi-multi-and-duro-firmware) in your Piksi Multi. +Currently the `install_piksi_multi.sh` will install **SBP Lib 2.4.1** (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 2.1.14** from [SwiftNav Firmware page](https://support.swiftnav.com/customer/en/portal/articles/2492784-piksi-multi-and-duro-firmware) in your Piksi Multi. +**WARNING: If upgrading from a firmware below v2.0.0 to a firmware greater than v2.0.0, you must upgrade to v2.0.0 first.** ## 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). @@ -35,7 +36,7 @@ If you have already configured Piksi Multi to act as a base station and sampled roslaunch piksi_multi_rtk_ros piksi_multi_base_station.launch ``` If you have already configured Piksi Multi to act as a base station (and did **NOT** sample its position), then launch the following file. -Once the survey is over, the sampled position will be automatically written in Piksi flash memory. +Once the survey is over, the sampled position will be automatically written in Piksi flash memory. ``` roslaunch piksi_multi_rtk_ros geodetic_survey.launch ``` @@ -66,7 +67,7 @@ The most interesting advertised topics are: this message contains ENU (East-North-Up) coordinate of the receiver in case of SPP fix. Orientation is set to identity quaternion (w=1); - `/piksi/enu_pose_best_fix` ([geometry_msgs/PointStamped](http://docs.ros.org/api/geometry_msgs/html/msg/PointStamped.html)) this message contains ENU (East-North-Up) coordinate of the receiver with best available fix at the moment (either RTK or SPP). Orientation is set to identity quaternion (w=1); - + For a complete list of advertised topics please check function [`advertise_topics`](https://github.com/ethz-asl/ethz_piksi_ros/blob/master/piksi_multi_rtk_ros/src/piksi_multi.py#L264). ### Raw IMU and Magnetometer Measurements @@ -80,7 +81,7 @@ In the former case the following private parameters must be set: - `latitude0_deg`: latitude where the origin of ENU frame is located, in degrees; - `longitude0_deg`: longitude where the origin of ENU frame is located, in degrees; - `altitude0`: altitude where the origin of ENU frame is located, in meters; - + see also configuration file [enu_origin_example.yaml](https://github.com/ethz-asl/ethz_piksi_ros/blob/master/piksi_multi_rtk_ros/cfg/enu_origin_example.yaml). ## Corrections Over Wifi From 91b9e6e1ebdf45e030d1998d022b99227447b6b3 Mon Sep 17 00:00:00 2001 From: Marco Tranzatto Date: Thu, 21 Feb 2019 18:28:42 +0100 Subject: [PATCH 2/2] Update version number --- ethz_piksi_ros/package.xml | 2 +- piksi_multi_rtk_ros/package.xml | 2 +- piksi_rtk_kml/package.xml | 2 +- piksi_rtk_msgs/package.xml | 2 +- piksi_v2_rtk_ros/package.xml | 2 +- rqt_gps_rtk_plugin/package.xml | 2 +- 6 files changed, 6 insertions(+), 6 deletions(-) diff --git a/ethz_piksi_ros/package.xml b/ethz_piksi_ros/package.xml index e82f33b7..c014aad6 100644 --- a/ethz_piksi_ros/package.xml +++ b/ethz_piksi_ros/package.xml @@ -1,7 +1,7 @@ ethz_piksi_ros - 1.8.1 + 1.9.0 Meta-package for the ethz_piksi_ros repository. Marco Tranzatto diff --git a/piksi_multi_rtk_ros/package.xml b/piksi_multi_rtk_ros/package.xml index e8cc871f..7c5fbf9b 100644 --- a/piksi_multi_rtk_ros/package.xml +++ b/piksi_multi_rtk_ros/package.xml @@ -1,7 +1,7 @@ piksi_multi_rtk_ros - 1.8.1 + 1.9.0 ROS driver for Piksi Multi RTK GPS Receiver. diff --git a/piksi_rtk_kml/package.xml b/piksi_rtk_kml/package.xml index 89bd7813..8bf6d78f 100644 --- a/piksi_rtk_kml/package.xml +++ b/piksi_rtk_kml/package.xml @@ -1,7 +1,7 @@ piksi_rtk_kml - 1.8.1 + 1.9.0 ROS node to write KML file from Piksi messages. diff --git a/piksi_rtk_msgs/package.xml b/piksi_rtk_msgs/package.xml index 64713009..8d237600 100644 --- a/piksi_rtk_msgs/package.xml +++ b/piksi_rtk_msgs/package.xml @@ -1,7 +1,7 @@ piksi_rtk_msgs - 1.8.1 + 1.9.0 Package containing messages for Piksi RTK GPS ROS Driver. diff --git a/piksi_v2_rtk_ros/package.xml b/piksi_v2_rtk_ros/package.xml index 50785006..190a2ca3 100644 --- a/piksi_v2_rtk_ros/package.xml +++ b/piksi_v2_rtk_ros/package.xml @@ -1,7 +1,7 @@ piksi_v2_rtk_ros - 1.8.1 + 1.9.0 ROS driver for Piksi V2 RTK GPS Receiver. diff --git a/rqt_gps_rtk_plugin/package.xml b/rqt_gps_rtk_plugin/package.xml index b659fbb9..27e17acc 100644 --- a/rqt_gps_rtk_plugin/package.xml +++ b/rqt_gps_rtk_plugin/package.xml @@ -1,7 +1,7 @@ rqt_gps_rtk_plugin - 1.8.1 + 1.9.0 The rqt_gps_rtk_plugin package Kai Holtmann