The code is a ROS (Robot Operating System) node for reading RTK (Real Time Dynamic) data from a GPS device and publishing it via the ROS topic.
The code implements a ROS node that receives serial data and forwards it into ROS messages. Here is a simple explanation of the code:
We first imported the ROS-related header file, and then created a sensor_msgs::NavSatFixtype message object navsat_fix_msg. Then, we assigned values to the various fields of the message object:
Modify the PoseEstimation.cpp file as follows:
The core is the add by section, which adds the saved code.
#include "Estimator/Estimator.h"typedef pcl::PointXYZINormal PointType; int WINDOWSIZE;bool LidarIMUInited = false…
The code comes from livox_mapping, let me briefly say the conclusion:
Modified the laserMapping.cpp file, replace the source program of this file, Pointlio saves the odometer and point cloud…