IAP — Integrity-Aware Positioning

A 3D LiDAR-IMU(-GNSS) localization/mapping system built on the GLIM architecture, with ARAIM integrity modules and a ROS2 runtime entry.

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1) Recommended Runtime (aligned with current code)

Use iap_rosnode as the primary runtime entry. glim_rosnode is not required for the default workflow in this repository.

构建

cd /home/dev/code/ws_iap

colcon build --symlink-install \
  --packages-select iap \
  --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

Run (two terminals)

Terminal 1: start IAP node

cd /home/dev/code/ws_iap
source install/setup.bash

ros2 run iap iap_rosnode \
  --ros-args -p config_path:=/home/dev/code/ws_iap/src/iap/config

Terminal 2: play bag

cd /home/dev/code/ws_iap
source install/setup.bash

ros2 bag play /home/dev/code/ws_iap/src/iap/data/realsense_ros2

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2) Runtime Mode Switches

A. Default mode (GNSS + LiDAR + IMU)

By default, these modules are loaded from extension_modules in config/config_ros.json:

• libgnss_extension.so
• libtrunk_extension.so
• libintegrity_extension.so
• libstandard_viewer.so
• librviz_viewer.so

Also, clock_owner_mode defaults to gnss (see config_odometry_{gpu,cpu,ct}.json).

B. LiDAR + IMU only (disable GNSS)

Edit config/config_ros.json and remove from extension_modules:

• libgnss_extension.so
• libintegrity_extension.so is also recommended to remove (it depends on GNSS epoch data)

You can keep trunk/viewer modules if needed.

C. Odometry-only mode (disable local/global mapping)

Edit config/config_ros.json:

"enable_local_mapping": false,
"enable_global_mapping": false

This runs the odometry path only.

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3) Key Configuration Files

File	Purpose
config/config.json	Top-level entry: points to sub-config files; can enable timing CSV
config/config_ros.json	ROS topics/QoS/extension loading and local/global mapping toggles
config/config_odometry_gpu.json	GPU odometry parameters (including clock_owner_mode)
config/config_odometry_cpu.json	CPU odometry parameters (including clock_owner_mode)
config/config_odometry_ct.json	Continuous-time odometry parameters (including clock_owner_mode)
config/config_gnss.json	GNSS and integrity-related parameters
config/config_global_mapping_gpu.json	Global mapping parameters

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4) Logs and Analysis

Default log directories:

• src/iap/log/
• Common result folder: src/iap/log/res/

If global.enable_timing_csv=true in config/config.json, it writes:

• src/iap/log/res/iap_timing.csv

Useful analysis scripts:

# ARAIM timeline
python3 tools/plot_araim_timeline.py src/iap/log/res/iap_araim.csv src/iap/log/res

# GNSS factor diagnostics
python3 tools/plot_gnss_factor_debug.py --csv src/iap/log/res/iap_gnss_factor_debug.csv --out src/iap/log/res

# ICP + module timing
python3 tools/plot_icp_timing.py src/iap/log/res/iap_icp.csv src/iap/log/res/iap_timing.csv src/iap/log/res

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5) Troubleshooting

ros2 run iap iap_rosnode fails to start

• Confirm source /home/dev/code/ws_iap/install/setup.bash is executed.
• Confirm colcon build --packages-select iap succeeded.

/rtcm warning while playing bag

If rtcm_msgs is not installed, this warning may appear. It is usually non-fatal for the current replay workflow.

No GUI window

If there is no DISPLAY environment, comment out libstandard_viewer.so in config_ros.json. Keep librviz_viewer.so or run with logs only.

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6) Developer Notes

• After editing config files, restart iap_rosnode before replaying the bag.
• For A/B runs (for example, dual vs gnss), use copied config directories to avoid cross-run contamination.
• Before commit, update docs/CHANGES.md and docs/TRACEABILITY.md (enforced by repository hooks).