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To make it easier to read, we’ve split the FusionHub documentation into two sub-manuals:
LPVR-AIR Manual - LPVR-AIR Manual

LPVR-POS Manual - LPVR-POS Manual

Please refer to these for the most up-to-date documentation.

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Parameter name	Description	Default
echoFusedPose	`fusedVehiclePose` output is printed to command line	false
endpoint	Output port for the fusion result 8801(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

Setting up the ImuToCarRotation parameter

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Code Block
VW frame x: back y: right z: up

...

The IMU sensor can be mounted in any way but the ImuToCarRotation quaternion need to be provided to transform the IMU data into VW frame.

Example

...

Code Block
IMU mounting x: forward y: left z: up

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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

The used car frame is VW coordinate frame,

Code Block
VW frame x: back y: right z: up

...

The IMU sensor can be mounted in any way but the ImuToCarRotation quaternion need to be provided to transform the IMU data into VW frame.

Example

If the IMU is mounted like follows,

Code Block
IMU mounting x: forward y: left z: up

To match the VW frame, we need a 180° rotation around the z axis (clockwise). Therefore, the rotation matrix would be,

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The WebSocket server can be accessed via 19358 port on the machine hosting the FusionHub service. To accelerate development download the Simple WebSocket Client Chrome plugin. This allows you to manually enter API commands and check the replies from the server.

Endpoint

Command

Sample Requests

Sample Response / Description

getConfig

Code Block

language	json

{
  "command": "getConfig"
}

Gets in memory configurations.

getSavedConfig

Code Block

language	json

{
  "command": "getConfig"
}

Get in memory configurations.

getSavedConfig

Code Block

language	json

{
  "command": "getSavedConfig"
}

Get on disk configurations.

saveConfig

Code Block

language	json

{
  "command": "saveConfig"
}

Save the in-memory configurations to the disk.

setConfig

{
  "command": "getSavedConfig"
}

Gets on disk configurations.

saveConfig

Code Block

language	json

{
  "command": "saveConfig"
}

Saves the in-memory configurations to the disk.

setConfig

Code Block

language	json

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

Updates in-memory configurations. This API creates new key-value pairs, or updates the existing values. It doesn't save configurations to disk.

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

setConfigJsonPath

(available for JVC branch)

Code Block

language	json

{
  "command": "

setConfig

setConfigJsonPath",
  "data":

{

"sources":

 {
      "

optical

path":

{

 "/sinks/prediction/0/settings

": {

/predictionIntervalMs",
      "

port

value":

5005

40
    }

]
}

} } }

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.

overwriteConfig

Updates 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

language	json

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

Overwrite

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

getIntercalibrationStatus

Code Block

language	json

{
  "command": "getIntercalibrationStatus"
}

Get

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

applyIntercalibrationResults

Code Block

language	json

{
  "command": "applyIntercalibrationResults"
}

Apply

Applies the current intercalibration quaternion to the in-memory copy of config. This does

NOT

not save to disk.

restartBackend

Code Block

language	json

{
  "command": "restartBackend"
}

Restart

Restarts 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

language	json

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

Listen

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

stopRecording

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

Stop

Stops the current recording.

listRecording

Code Block

language	json

{
    "command": "listRecording",
}

List

Lists the recorded filenames since the FusionHub booted up.

getVersion

Code Block

language	json

{
  "command": "getVersion"
}

Code Block

language	json

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

Sending FusionHub Data to External Applications via the ZeroMQ Interface

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Version	Old Version 49	New Version Current
Changes made by	Klaus Petersen	Chong Yong Kin (Unlicensed)
Saved on	Sept 20, 2023	Apr 08, 2024

Versions Compared

Key

Setting up the ImuToCarRotation parameter

Example

Setting up the ImuToCarRotation parameter

Example

Sending FusionHub Data to External Applications via the ZeroMQ Interface