forked from HKUST-Aerial-Robotics/ublox_driver
-
Notifications
You must be signed in to change notification settings - Fork 3
/
driver_config.yaml
25 lines (23 loc) · 1.15 KB
/
driver_config.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
%YAML:1.0
# input options
online: 1 # input from serial port(1) or file(0)
## if `online == 1` then following options may be set
input_serial_port: "/dev/ttyACM0"
serial_baud_rate: 115200
input_rtcm: 0 # whether input RTCM data to receiver for RTK solution
rtcm_tcp_port: 3503
config_receiver_at_start: 0 # whether to config receiver during booting, ** NOT SUPPORT YET **
receiver_config_filepath: "~/catkin_ws/src/ublox_driver/config/ublox_rcv_config.yaml"
## if `online == 0` then following options may be set, `serial_baud_rate` is used for speed control
ubx_filepath: "~/tmp/ublox_driver_test/2020_11_30_7_14_33.ubx"
rtk_correction_ecef: # apply RTK correction in case of the position of base station reported in RTCM is biased
rows: 3
cols: 1
dt: d
data: [ 0, 0, 0 ]
# output options
to_ros: 1 # publish as ros topic
to_file: 1 # dump data to file
dump_dir: "~/tmp/ublox_driver_test/" # dump data to this directory, if applicable
to_serial: 0 # output data to serial port, for debugging purpose
output_serial_port: "/dev/ttyACM0" # dump data to this serial port, if applicable