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Yasmine Mili (Unlicensed)

Chong Yong Kin (Unlicensed)

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Parameter name

Description

Default

echoFusedPose

fusedVehiclePose output is printed to command line

false

endpoint

Output port for the fusion result (more than one endpoint can be used if needed, check the endpoint parameters below).

8803

fitModel

Model to use for fusion.

ModelGnssImu

accelError

Acceleration error for Kalman filter. Keep default value.

0.01

omegaError

Omega error for Kalman filter. Keep default value.

0.02

measurementError

Measurement error for Kalman filter. Keep default value.

0.05

imuToCarRotation

Orientation quaternion of IMU relative to car frame

1, 0, 0, 0

smoothFit

Enable this option to prevent filter output from jumping between IMU data and GPS measurement. Keep enabled.

true

singleEndpoint

  • If enabled, the different fusion output messages will be published to the same port "endpoint"

  • If disabled, the "endpoint" parameter above, is the output port for the FusedVehiclePose msg type only.

true

poseEndpoint

Output port for the FusedPose msg type.

8804 if singleEndpoint=false

globalPoseEndpoint

Output port for the GlobalFusedPose msg type.

8805 if singleEndpoint=false

outputRawGnssData

Publishes raw Gnss data position instead of the fusion output. Useful for debugging.

false

outputWhenFilterNotReady

Publishes a temporary raw Gnss data output while the filter is initializing. Useful for a minimal check before moving the vehicle.

false

Setting up the ImuToCarRotation parameter

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Endpoint

Sample Requests

Sample Response / Description

getConfig

Code Block
languagejson
{
  "command": "getConfig"
}

Get in memory configurations.

getSavedConfig

Code Block
languagejson
{
  "command": "getSavedConfig"
}

Get on disk configurations.

saveConfig

Code Block
languagejson
{
  "command": "saveConfig"
}

Save the in-memory configurations to the disk.

setConfig

Code Block
languagejson
{
  "command": "setConfig",
  "data": {
    "sources": {
      "optical": {
        "settings": {
          "port": 5005
        }
      }
    }
  }
}

Update in-memory configurations. This api create new key-value pairs, or update the existing values.

It does not save configurations to the disk.

Note that in "data" you just need to specify the path to the json key to update: the exmaple on the right would change the port to 5005 while everything else is left unchanged.

setConfigJsonPath

(available for JVC branch)

Code Block
{
    "command": "setConfigJsonPath",
    "data": [
        {
            "path": "/sinks/prediction/2/predictionIntervalMS",
            "value": 40
        }
    ]
}

Update the in-memory configuration given JSON path, and new value.

For more info about JSON path, please refer JSON Pointer - JSON for Modern C++ (nlohmann.me).

overwriteConfig

(disabled in JVC branch)

Code Block
languagejson
{
  "command": "overwriteConfig",
  "data": {
    "settings": { ... },
    "sources": { ... },
    "sinks": { ... }
  }
}

Overwrite the in-memory configurations. This is suitable when user want to remove a key from the configuration.

getIntercalibrationStatus

Code Block
languagejson
{
  "command": "getIntercalibrationStatus"
}

Get the current intercalibration status. Useful for refetching current status when the frontnend accidentally disconnects.

applyIntercalibrationResults

Code Block
languagejson
{
  "command": "applyIntercalibrationResults"
}

Apply the current intercalibration quaternion to the in-memory copy of config. This does NOT save to disk.

restartBackend

Code Block
{
  "command": "restartBackend"
}

Restart the backend. Internally the while loop reset the DataBlock, causing all sources and sinks to be freed from memory, and instantiate them again.

startRecording

Code Block
{
    "command": "startRecording",
    "data": {
        "endpoints": ["inproc://imu_data_source_1"],
        "format": "json",
        "filename": "subaruDrive"
    }
}

Listen to data published to endpoints, and write to a file of YYYYMMDD-HHMMSS-{comment}.{format}

stopRecording

Code Block
{
    "command": "stopRecording",
}

Stop the current recording.

listRecording

Code Block
{
    "command": "listRecording",
}

List the recorded filenames since the FusionHub booted up.

getVersion

Code Block
languagejson
{
  "command": "getVersion"
}
Code Block
languagejson
{
  "command": "getVersion",
  "status": "ok",
  "data": {
    "version": "1.0.0"
  }
}

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