From f241e83f8292a7e6698633834e527ee6d1fa246a Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Fri, 21 Mar 2025 11:12:11 +0900 Subject: [PATCH 1/3] [fix]fix llh_conveter version to 405fe659 --- .github/workflows/build.yml | 5 ++++- README.md | 2 ++ eagleye.repos | 2 +- 3 files changed, 7 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index ace7e9ca..4fd508fd 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -35,7 +35,10 @@ jobs: git clone https://github.com/MapIV/rtklib_ros_bridge.git git clone https://github.com/MapIV/kml_generator git clone https://github.com/MapIV/multi_rosbag_controller.git - git clone https://github.com/MapIV/llh_converter + git clone https://github.com/MapIV/llh_converter.git + cd llh_converter + git checkout 405fe659f0cead637a1c4c8ef4d8c72f9cb194c4 + cd .. git clone https://github.com/MapIV/gnss_compass_ros.git - name: Install GeographicLib diff --git a/README.md b/README.md index 020c9d98..a7054413 100755 --- a/README.md +++ b/README.md @@ -63,6 +63,8 @@ Clone and build the necessary packages for Eagleye. sudo geographiclib-get-geoids best sudo mkdir /usr/share/GSIGEO sudo cp llh_converter/data/gsigeo2011_ver2_1.asc /usr/share/GSIGEO/ + unzip llh_converter/data/GSIGEO2024beta.zip + sudo mv GSIGEO2024beta.isg /usr/share/GSIGEO/ cd .. rosdep install --from-paths src --ignore-src -r -y catkin_make -DCMAKE_BUILD_TYPE=Release diff --git a/eagleye.repos b/eagleye.repos index ca353d38..d46437ef 100644 --- a/eagleye.repos +++ b/eagleye.repos @@ -10,7 +10,7 @@ repositories: llh_converter: type: git url: https://github.com/MapIV/llh_converter.git - version: main + version: 405fe659f0cead637a1c4c8ef4d8c72f9cb194c4 nmea_comms: type: git url: https://github.com/MapIV/nmea_comms.git From 50bada029bee1f142f85a1aded8da728aae3e5a7 Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Fri, 21 Mar 2025 11:24:34 +0900 Subject: [PATCH 2/3] [feature]support geoid2024beta --- eagleye_util/fix2pose/launch/fix2pose.launch | 2 +- eagleye_util/fix2pose/src/fix2pose.cpp | 7 +++++-- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/eagleye_util/fix2pose/launch/fix2pose.launch b/eagleye_util/fix2pose/launch/fix2pose.launch index 85363639..7b1f36ee 100644 --- a/eagleye_util/fix2pose/launch/fix2pose.launch +++ b/eagleye_util/fix2pose/launch/fix2pose.launch @@ -10,7 +10,7 @@ - + diff --git a/eagleye_util/fix2pose/src/fix2pose.cpp b/eagleye_util/fix2pose/src/fix2pose.cpp index 2e578c7d..00c54339 100644 --- a/eagleye_util/fix2pose/src/fix2pose.cpp +++ b/eagleye_util/fix2pose/src/fix2pose.cpp @@ -57,8 +57,7 @@ static geometry_msgs::PoseWithCovarianceStamped _pose_with_covariance; static std::string _parent_frame_id, _child_frame_id, _base_link_frame_id, _gnss_frame_id; -std::string geoid_file_path = ros::package::getPath("llh_converter") + "/data/gsigeo2011_ver2_1.asc"; -llh_converter::LLHConverter _lc(geoid_file_path); +llh_converter::LLHConverter _lc; llh_converter::LLHParam _llh_param; bool _fix_only_publish = false; @@ -280,6 +279,10 @@ int main(int argc, char** argv) { _llh_param.geoid_type = llh_converter::GeoidType::GSIGEO2011; } + else if(geoid_type == 2) + { + height_converter_.setGeoidType(llh_converter::GeoidType::GSIGEO2024); + } else { ROS_ERROR("GeoidType is not valid"); From 067fa7ab9a8a733cecf1eb53a88e96cc3cfa4b0b Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Fri, 21 Mar 2025 12:23:24 +0900 Subject: [PATCH 3/3] [fix]fix param setting --- eagleye_util/fix2pose/src/fix2pose.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/eagleye_util/fix2pose/src/fix2pose.cpp b/eagleye_util/fix2pose/src/fix2pose.cpp index 00c54339..d0e7f764 100644 --- a/eagleye_util/fix2pose/src/fix2pose.cpp +++ b/eagleye_util/fix2pose/src/fix2pose.cpp @@ -281,7 +281,7 @@ int main(int argc, char** argv) } else if(geoid_type == 2) { - height_converter_.setGeoidType(llh_converter::GeoidType::GSIGEO2024); + _llh_param.geoid_type = llh_converter::GeoidType::GSIGEO2024; } else {