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For details about the overall configuration of the RTK-GPS system refer to this section.
GNSS Output Format
JSON
| Code Block |
|---|
"gnssData": {
"altitude": 0.0,
"hdop": 0.0,
"heading": 0,
"latitude": 0.0,
"longitude": 0.0,
"height": 0.0,
"nSat": 0,
"orientation": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"quality": 0,
"sensorName": "",
"timestamp": 0,
"tmg": 0.0,
"undulation": 0.0
} |
Protobuf
| Code Block |
|---|
message GnssData {
int64 timestamp = 1;
double latitude = 3;
double longitude = 4;
double period = 5;
int32 frame_count = 6;
double latency = 8;
string sensor_name = 11;
Quaternion orientation = 12;
double height = 13;
double vertical_accuracy = 14;
double horizontal_accuracy = 15;
int32 quality = 16;
int32 n_sat = 17;
double hdop = 18;
double tmg = 19;
double heading = 20;
double altitude = 21;
double undulation = 22;
} |
Odometry
The vehicle source is the data source that reads raw CAN data messages from a given CAN bus interface and parses the vehicle data using to the provided CAN protocol.
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Configuration example
| Code Block |
|---|
"vehicle": { "type": "Automotive", "vehicleStateEndpoint": "tcp://*:8999", ", "settings": { "canInterface": "Internal", "canEndpoint": "tcp://localhost:9921", "vehicleType": "Minimal", "canProtocol": { "velocityCanId": 209, "velocityScale": 0.015625012, "endianness": "little", "velocityBitsLength": 16, "velocityStartBit": 0 } } 0 } } } |
Vehicle Parsing with Separate Wheel Velocities
| Anchor | ||||
|---|---|---|---|---|
|
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Configuration example
| Code Block |
|---|
"vehicle": { "type": "Automotive", "vehicleStateEndpoint": "tcp://*:8999", "settings": { "canInterface": "PeakCAN", "canEndpoint": "tcp://localhost:9921", "vehicleType": "External", "wheelBase": 2.750, "trackWidth": 1.595, "canProtocol": { "velocityCanId": 212, "velocityScale": 0.015625012, "endianness": "little", "velocityStartBits": { "FrontLeftWheel": 0, "FrontRightWheel": 16, "RearLeftWheel": 32, "RearRightWheel": 48 } } } } } } |
Additional Parameters
Gear Stick Position for Velocity Sign
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Configuration template
| Code Block |
|---|
"vehicle": { ... { ... "settings": { ... "vehicleType": "External", ... "canProtocol": { ... }, "gearCanId": 1, "gearStartBit": 2, "gearBitslength": 3, "gearReverseValue": 4 4 } } } } |
Steering information for Ackermann model
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The steeringTable configuration block would look something like below.
| Code Block |
|---|
"vehicle": { ... "settings": { ... "vehicleType": "ExternalWithSteering", ... "canProtocol": { ... }, "steeringTable": { "steeringWheelAngles": [ -360, -340, -320, -300, ... 300, 320, 340, 360], "wheelAngleType": "Right", "wheelAngles": [ -30.0, -25.5, -20.0, -15.0, ... 19.0, 26.0, 35.5, 40.0 ] } } } } } } |
Predefined Vehicle Parsing
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See a technical description of FusionHub’s communication interface in one of the following chapters.
JSON
| Code Block |
|---|
{
"fusedVehiclePose": {
"acceleration": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"globalPosition": {
"x": 0.0,
"y": 0.0
},
"lastDataTime": {
"timestamp": 0
},
"position": {
"x": 0,
"y": 0
},
"timestamp": {
"timestamp": 0
},
"utmZone": "31T",
"yaw": 0
}
} |
Protobuf
| Code Block |
|---|
syntax = "proto3";
package Fusion.proto;
message Vector2 {
double x = 2;
double y = 3;
}
message Vector {
double x = 2;
double y = 3;
double z = 4;
}
message FusedVehiclePose {
int64 timestamp = 1;
Vector2 position = 2;
Vector2 global_position = 3;
double yaw = 4;
string utm_zone = 5;
int64 timecode = 6; // Optional: if 0 not set.
Vector acceleration = 7;
}
message StreamData {
int32 sequence_number = 1;
FusedVehiclePose fused_vehicle_pose = 9;
} |
...
Output Data Format
FusedVehiclePose
JSON
| Code Block |
|---|
{
"fusedVehiclePose": {
"acceleration": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"globalPosition": {
"x": 0.0,
"y": 0.0
},
"lastDataTime": {
"timestamp": 0
},
"position": {
"x": 0.0,
"y": 0.0
},
"timestamp": {
"timestamp": 0
},
"utmZone": "31T",
"yaw": 0.0
}
} |
Protobuf
| Code Block |
|---|
syntax = "proto3";
package Fusion.proto;
message Vector2 {
double x = 2;
double y = 3;
}
message Vector {
double x = 2;
double y = 3;
double z = 4;
}
message FusedVehiclePose {
int64 timestamp = 1;
Vector2 position = 2;
Vector2 global_position = 3;
double yaw = 4;
string utm_zone = 5;
int64 timecode = 6; // Optional: if 0 not set.
Vector acceleration = 7;
}
message StreamData {
int32 sequence_number = 1;
FusedVehiclePose fused_vehicle_pose = 9;
} |
Parameter name | Description | Unit |
|---|---|---|
acceleration | 3D acceleration vector as measured by IMU. Describes the orientation of the vehicle. | m/s^2 |
globalPosition | Longitude and latitude in degrees | degrees |
lastDataTime | Unused | s |
position | Position within UTM zone | m |
timestamp | Timestamp of data acquisition | ns |
utmZone | UTM zone | UTM string |
yaw | Globally referenced yaw angle | rad |
FusedPose
JSON
| Code Block |
|---|
{
"fusedPose": {
"lastDataTime": {
"timestamp": 0
},
"orientation": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"position": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"timestamp": {
"timestamp": 0
}
}
} |
Protobuf
| Code Block |
|---|
syntax = "proto3";
package Fusion.proto;
message Quaternion {
double w = 1;
double x = 2;
double y = 3;
double z = 4;
}
message Vector {
double x = 2;
double y = 3;
double z = 4;
}
message FusedPose {
int64 timestamp = 1;
Vector position = 2;
Quaternion orientation = 3;
Vector angular_velocity = 4;
int64 timecode = 5; // Optional: if 0 not set.
}
message StreamData {
int32 sequence_number = 1;
FusedPose fused_pose = 4;
} |
Parameter name | Description | Unit |
|---|---|---|
lastDataTime | Unused | s |
orientation | Orientation quaternion in ENU coordinate frame | without unit |
position | X, y position + height | m |
timestamp | Time of data acqusition | ns |
GlobalFusedPose
JSON
| Code Block |
|---|
{
"globalFusedPose" {
"orientation": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"timestamp": {
"timestamp": 0
},
"position": {
"longitude": 0.0,
"latitude": 0.0,
"height": 0.0
}
}
} |
Protobuf
| Code Block |
|---|
syntax = "proto3";
package Fusion.proto;
message Quaternion {
double w = 1;
double x = 2;
double y = 3;
double z = 4;
}
message GpsPoint {
double longitude = 2;
double latitude = 3;
double height = 4;
}
message GlobalFusedPose {
int64 timecode = 5; // Optional: if 0 not set.
int64 timestamp = 1;
GpsPoint position = 2;
Quaternion orientation = 3;
}
message StreamData {
int32 sequence_number = 1;
GlobalFusedPose global_fused_pose = 10;
} |
...