Navigation Publisher

Publish navigation data (IMU, GPS, Odometry) with coordinate system transformations to Hammerhead.

Build

mkdir build
cd build
cmake ..
cmake --build . --config Release

Configuration

Before running the navigation publisher, ensure the following settings are configured in master_config.ini:

# [string] Navigation publisher source.
# Specify the IP address of the navigation publisher (e.g., 127.0.0.1).
# Leave empty to disable navigation data.
navigation_publisher = 127.0.0.1

Note: Set navigation_publisher to the IP address where the navigation publisher is running. Use 127.0.0.1 for local testing.

Usage

# Linux
./navigation_publisher

# Windows
./Release/navigation_publisher.exe

Examples

# Run the navigation publisher
./navigation_publisher

The publisher will continuously send navigation data at 10 Hz with example values:

  • IMU: Acceleration (0, 0, 9.81) m/s², Gyro (0, 0, 0) rad/s, Magnetometer (0, 0, 0) gauss, Temperature 25°C
  • GPS: Lat 0.0°, Lon 0.0°, Alt 10.0m, Speed 5.0 m/s, Fix type 0, 1 satellite
  • Odometry: Position (0, 0, 0)m, Velocity (5, 0, 0) m/s, Angular velocity (0, 0, 0) rad/s

Features

  • High-performance C++ implementation for real-time navigation data publishing
  • Publishes comprehensive navigation data including IMU, GPS, and Odometry
  • Individual timestamps for each sensor (IMU, GPS, Odometry)
  • Includes 4x4 transformation matrix from body frame to Nodar raw camera frame
  • ZMQ-based communication on port 9824 (topic: nodar/navigation)
  • Publishes at 10 Hz update rate

Coordinate Systems

The body/odometry frame used in this example is:

Body/Odometry Frame (Example)

  • x: Forward direction
  • y: Left direction
  • z: Up direction

Note: You can use any body frame coordinate system. Simply adjust the T_body_to_raw_camera transformation matrix accordingly to match your coordinate system.

Nodar Raw Camera Frame

  • x: Right direction
  • y: Down direction
  • z: Forward direction

Message Format

The NavigationData message contains:

  • Timestamp: 64-bit nanosecond timestamp (message creation time)

  • IMU Data:

    • Timestamp (ns)
    • Acceleration (x, y, z) in m/s²
    • Gyroscope (x, y, z) in rad/s
    • Magnetometer (x, y, z) in gauss
    • Temperature in °C

  • GPS Data:

    • Timestamp (ns)
    • Latitude, Longitude (degrees), Altitude (m)
    • Horizontal/Vertical uncertainty (m)
    • Speed (m/s), Course (degrees)
    • Fix type, Number of satellites

  • Odometry Data:

    • Timestamp (ns)
    • Position (x, y, z) in m
    • Velocity (x, y, z) in m/s
    • Angular velocity (x, y, z) in rad/s

  • Transformation Matrix: 4x4 matrix from body to raw camera frame (row-major)

Use Cases

This example is useful for:

  • Testing navigation data integration in perception systems
  • Validating coordinate system transformations
  • Providing multi-sensor navigation data (IMU, GPS, Odometry) to Hammerhead

Troubleshooting

  • Port conflict: Ensure port 9824 is not in use by another application
  • Hammerhead not receiving data: Verify navigation_publisher is set to the correct IP address in master_config.ini

Press Ctrl+C to stop publishing.