Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
@@ -0,0 +1,11 @@
+<launch>
+  <arg name="outPutSentenceTopic" default="/m2/nmeaSentence"/>
+  <arg name="gpsComChannel" default="/dev/ttyUSB0"/>
+  <arg name="gpsComBaudRate" default="115200"/>
+
+  <node name="serial_reader_node" pkg="newton-m2" type="serial_reader_node" output="screen">
+      <param name="outPutSentenceTopic" value="$(arg outPutSentenceTopic)" type="string"/>
+      <param name="gpsComChannel" value="$(arg gpsComChannel)" type="string"/>
+      <param name="gpsComBaudRate" value="$(arg gpsComBaudRate)" type="int"/>
+  </node>
+</launch>
@@ -0,0 +1,66 @@
+<launch>
+    <arg name="outputNavSatFixTopic_" default="/m2/gpsFix"/>
+    <arg name="outputNavSatFixFrameId" default="gps"/>
+
+    <arg name="outputOdometryTopic_" default="/m2/gpsOdom"/>
+    <arg name="gphdpOdometryTopic_" default="/m2/gphpdOdom"/>
+    <arg name="outputOdometryFrameId" default="gps"/>
+
+    <arg name="outputLidarOdometryTopic_" default="/m2/lidarOdom"/>
+    <arg name="outputLidarOdometryFrameId" default="c32_L"/>
+
+    <arg name="outputTransFromStampedTopic_" default="/m2/gpsTransFromStamped"/>
+    <arg name="outputTransFromStampedFrameId" default="gps"/>
+
+    <arg name="outputImuTopic_" default="/m2/gpsImu"/>
+    <arg name="outputImuFrameId" default="gps"/>
+
+    <arg name="outputGpsPathTopic_" default="/m2/gpsPath"/>
+    <arg name="robotOdomFrameId" default="base_link"/>
+
+    <arg name="inputNmeaSentenceTopic_" default="/m2/nmeaSentence"/>
+    <arg name="publishDynamicTf" default="false"/>
+
+     <!-- origin of dd_yuanqu -->
+    <!-- <arg name="orinLon" default="116.178987"/>
+    <arg name="orinLat" default="39.903197"/>
+    <arg name="orinAlt" default="75.0848"/> -->
+
+    <!-- origin of haidian_park -->
+    <arg name="orinLon" default="116.2899854448"/>
+    <arg name="orinLat" default="39.98534"/>
+    <arg name="orinAlt" default="48.389"/>
+
+    <arg name="e_bias" default="0.0"/>
+    <arg name="n_bias" default="0.0"/>
+
+    <node name="m2_sentence_parse_node" pkg="newton-m2" type="m2_sentence_parse_node" output="screen">
+      <param name="outputNavSatFixTopic_" value="$(arg outputNavSatFixTopic_)" type="string"/>
+      <param name="outputNavSatFixFrameId" value="$(arg outputNavSatFixFrameId)" type="string"/>
+
+      <param name="outputOdometryTopic_" value="$(arg outputOdometryTopic_)" type="string"/>
+      <param name="gphdpOdometryTopic_" value="$(arg gphdpOdometryTopic_)" type="string"/>
+      <param name="outputOdometryFrameId" value="$(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="$(arg n_bias)" type="double"/>
+  </node>
+</launch>
@@ -0,0 +1,4 @@
+<launch>
+    <include file="$(find newton-m2)/launch/include/newton_m2_serial_reader.launch" />
+    <include file="$(find newton-m2)/launch/include/sentence_parse.launch" />
+</launch>