...
| Info |
|---|
After starting FusionHub, while the car is static, the filter will not deliver a correct yaw angle. The angle will be adjusted to the correct direction after a few seconds of driving the vehicle. The exact output data format is described below. |
Fusion Filter Option 2 - High-Dynamics Filter
...
The high dynamics filter works well for scenarios with agressive driving maneuvers such as drifting and cornering. During such maneuvers the turning motion of the wheels generally doesn’t directly correspond with the direction of the vehicle. Therefore for this filter don’t doesn’t rely on wheel velocity measurements. This filter uses information from the wheels to determine if the car has come to a full stop.
...
Parameter name | Description | Default |
|---|---|---|
filename | Filename of the file to be recorded. | driveData.json |
format | The file format. At the moment only JSON is possible. | json |
Data Replay
Replay executable
In order to replay data from a JSON file a separate application ReplayExecutable.exe that we deliver with LPVR-POS is used. The replay executable reads the JSON data from a defined file, pushes the data to a replay queue and sends them to the network (tcp://localhost:9921 by default). To run the ReplayExecutable use the following command:
...
FusionHub can receive data from the replay application by adding the replay application’s endpoint source to the configuration file:
| Code Block | ||
|---|---|---|
| ||
{
...,
"sources": {
"endpoints": ["tcp://localhost:9921"]
}
} |
file:
| Code Block | ||
|---|---|---|
| ||
{
...,
"sources": {
"endpoints": ["tcp://localhost:9921"]
}
} |
| Info |
|---|
The Replay executable allows to replay the recorded data in order to use it as input to the fusion nodes. For that please keep the same “sinks“ block that was used in the live testing. The “sources“ block should be replaced by just the replay endpoint as shown above instead of the different hardware data sources. |
Output replay
This is an alternative replay method included in the FusionHub application itself. It can be used to publish the fusion output with a desired frequency. It doesn’t run the fusion but simulates the output instead. The recorded data need to be pre-processed by keeping the desired output message type only and removing the input messages. The configuration for this replay looks like follows, note that the “sinks“ block is empty here except for “echo” if needed.
| Code Block |
|---|
{
"sources": {
"filereader": {
"filename": "log.json",
"playbackInterval": 0.002,
"endpoint": "tcp://*:8806",
"loop": false
}
},
"sinks": {
// Uncomment the next line to output data to command line
// "echo": {}
}
} |
Parameter name | Description | Default |
|---|---|---|
filename | Filename of the file to be replayed. | N/A |
playbackInterval | Time interval in seconds, controls how fast the data is published. | 0.001 |
loop | Whether to loop over the input file. | false |
endpoint | Output endpoint. | ““ |
Graphical User Interface
Dashboard Elements
...
FusionHub should now output the status of the RTK-GPS connection to the command line. Note that currently we don’t yet output the status in the GUI. This will follow soon. There are three states to the RTK-GPS system:
GPS (RTK not connected, output has normal GPS accuracy)
Float (RTK connected and working, but not enough data to get high accuracy output)
Fix (RTK connected and in high-accuracy mode)
...