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[fix][ros1]fix llh_conveter version to 405fe659 #345

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Merged
rsasaki0109 merged 3 commits into from
Mar 21, 2025
Merged

[fix][ros1]fix llh_conveter version to 405fe659 #345

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f241e83
[fix]fix llh_conveter version to 405fe659
Mar 21, 2025
50bada0
[feature]support geoid2024beta
Mar 21, 2025
067fa7a
[fix]fix param setting
Mar 21, 2025
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5 changes: 4 additions & 1 deletion .github/workflows/build.yml
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Expand Up @@ -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
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2 changes: 2 additions & 0 deletions README.md
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Expand Up @@ -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
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2 changes: 1 addition & 1 deletion eagleye.repos
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Expand Up @@ -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
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2 changes: 1 addition & 1 deletion eagleye_util/fix2pose/launch/fix2pose.launch
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Expand Up @@ -10,7 +10,7 @@
<!-- 0 : No convert 1 : ellipsoid -> altitude 2 : altitude -> ellipsoid -->
<arg name="convert_height_num" default="0"/>

<!-- 0 : EGM2008-1 1 : GSIGE2011 Ver2.1 -->
<!-- 0 : EGM2008-1 1 : GSIGE2011 Ver2.1 2 : GSIGE2011beta-->
<param name="geoid_type" value="0"/>

<!-- Parameters for tf to publish -->
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7 changes: 5 additions & 2 deletions eagleye_util/fix2pose/src/fix2pose.cpp
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Expand Up @@ -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;
Expand Down Expand Up @@ -280,6 +279,10 @@ int main(int argc, char** argv)
{
_llh_param.geoid_type = llh_converter::GeoidType::GSIGEO2011;
}
else if(geoid_type == 2)
{
_llh_param.geoid_type = llh_converter::GeoidType::GSIGEO2024;
}
else
{
ROS_ERROR("GeoidType is not valid");
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