drivers-gnss

Introduction

The GNSS driver is mainly responsible for receiving and processing GNSS signals and passing them to the positioning module to realize high-precision positioning.

Directory Structure

shell

modules/drivers/gnss/
├── BUILD
├── conf
├── cyberfile.xml
├── dag
├── gnss_component.cc
├── gnss_component.h
├── launch
├── parser              // parser to parse different kinds of gnss data
├── proto
├── README.md
├── stream              // stream handler to process gnss data from different data streams
├── test
├── test_data
└── util                // common function

Modules

GnssDriverComponent

apollo::drivers::gnss::GnssDriverComponent

Input

Name	Type	Description
data stream	binary data from gnss stream	-
`msg`	`apollo::canbus::Chassis`	chassis message

Output

Name	Type	Description
`msg`	`apollo::drivers::gnss::RawData`	gps bin raw data
`msg`	`apollo::drivers::gnss::RawData`	gps rtcm raw data
`msg`	`apollo::drivers::gnss::RawData`	gnss stream raw data
`msg`	`apollo::drivers::gnss::StreamStatus`	gnss stream status

configs

file path	type / struct	Description
`modules/drivers/gnss/gnss_conf.pb.txt`	`apollo::drivers::gnss::conf::Config`	gnss config

How to Launch

bash

cyber_launch start modules/drivers/gnss/launch/gnss.launch