houyongdi/dreamDeckAutopilot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Initial commit

Browse Source
This commit is contained in:
houyongdi
2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sensors/beitian-bg620/launch/include/beitian_bg620_sentence_parse.launch
+69
View File
@@ -0,0 +1,69 @@
<launch>
<arg name="outputNavSatFixTopic_" default="/bg620/gpsFix"/>
<arg name="outputNavSatFixFrameId" default="gps"/>
<arg name="outputOdometryTopic_" default="/bg620/gpsOdom"/>
<arg name="outputOdometryFrameId" default="gps"/>
<arg name="outputLidarOdometryTopic_" default="/bg620/lidarOdom"/>
<arg name="outputLidarOdometryFrameId" default="c32_L"/>
<arg name="outputTransFromStampedTopic_" default="/bg620/gpsTransFromStamped"/>
<arg name="outputTransFromStampedFrameId" default="gps"/>
<arg name="outputImuTopic_" default="/bg620/gpsImu"/>
<arg name="outputImuFrameId" default="gps"/>
<arg name="outputGpsPathTopic_" default="/bg620/gpsPath"/>
<arg name="robotOdomFrameId" default="base_link"/>
<arg name="inputNmeaSentenceTopic_" default="/bg620/nmeaSentence"/>
<arg name="publishDynamicTf" default="false"/>
<!-- origin of dd_yuanqu -->
<!-- <arg name="orinLon" default="116.178987"/>
<arg name="orinLat" default="39.903197"/>
<arg name="orinAlt" default="75.0848"/> -->
<!-- origin of haidian_park -->
<arg name="orinLon" default="116.2899854448"/>
<arg name="orinLat" default="39.98534"/>
<arg name="orinAlt" default="48.389"/>
<!-- origin of caihonghu_park -->
<!-- <arg name="orinLon" default="117.2874076873333"/>
<arg name="orinLat" default="36.67463832666667"/>
<arg name="orinAlt" default="115.1813"/> -->
<arg name="e_bias" default="0.0"/>
<arg name="n_bias" default="0.0"/>
<node name="bg620_sentence_parse_node" pkg="beitian-bg620" type="bg620_sentence_parse_node" output="screen">
<param name="outputNavSatFixTopic_" value="$(arg outputNavSatFixTopic_)" type="string"/>
<param name="outputNavSatFixFrameId" value="$(arg outputNavSatFixFrameId)" type="string"/>
<param name="outputOdometryTopic_" value="$(arg outputOdometryTopic_)" type="string"/>
<param name="outputOdometryFrameId" value="$(arg outputOdometryFrameId)" type="string"/>
<param name="outputLidarOdometryTopic_" value="$(arg outputLidarOdometryTopic_)" type="string"/>
<param name="outputLidarOdometryFrameId" value="$(arg outputLidarOdometryFrameId)" type="string"/>
<param name="outputTransFromStampedTopic_" value="$(arg outputTransFromStampedTopic_)" type="string"/>
<param name="outputTransFromStampedFrameId" value="$(arg outputTransFromStampedFrameId)" type="string"/>
<param name="outputImuTopic_" value="$(arg outputImuTopic_)" type="string"/>
<param name="outputImuFrameId" value="$(arg outputImuFrameId)" type="string"/>
<param name="outputGpsPathTopic_" value="$(arg outputGpsPathTopic_)" type="string"/>
<param name="robotOdomFrameId" value="$(arg robotOdomFrameId)" type="string"/>
<param name="inputNmeaSentenceTopic_" value="$(arg inputNmeaSentenceTopic_)" type="string"/>
<param name="publishDynamicTf" value="$(arg publishDynamicTf)" type="bool"/>
<param name="orinLon" value="$(arg orinLon)" type="double"/>
<param name="orinLat" value="$(arg orinLat)" type="double"/>
<param name="orinAlt" value="$(arg orinAlt)" type="double"/>
<param name="e_bias" value="$(arg e_bias)" type="double"/>
<param name="n_bias" value="$(arg n_bias)" type="double"/>
</node>
</launch>