gnss

Gnss ¶

Gnss()

Bases: ABC

A GNSS module that provides measurements from a GNSS receiver.

Events¶

Name	Description
NEW_MEASUREMENT	a new measurement has been received (argument: `GnssMeasurement`)

GnssHardware ¶

GnssHardware(
    *,
    antenna_pose: Pose | None,
    reconnect_interval: float = 3.0
)

Bases: Gnss

This hardware module connects to a Septentrio SimpleRTK3b (Mosaic-H) GNSS receiver.

Parameters:

Name	Type	Description	Default
`antenna_pose`	`Pose \| None`	the pose of the main antenna in the robot's coordinate frame (yaw: direction to the auxiliary antenna)	required
`reconnect_interval`	`float`	the interval to wait before reconnecting to the device	`3.0`

GnssSimulation ¶

GnssSimulation(
    *,
    pose_provider: PoseProvider,
    lat_std_dev: float = 0.01,
    lon_std_dev: float = 0.01,
    heading_std_dev: float = 0.01,
    interval: float = 1.0,
    latency: float = 0.0,
    gps_quality: GpsQuality = GpsQuality.RTK_FIXED
)

Bases: Gnss

Simulation of a GNSS receiver.

Parameters:

Name	Type	Description	Default
`pose_provider`	`PoseProvider`	the pose provider to use for the simulation	required
`lat_std_dev`	`float`	the standard deviation of the latitude in meters	`0.01`
`lon_std_dev`	`float`	the standard deviation of the longitude in meters	`0.01`
`heading_std_dev`	`float`	the standard deviation of the heading in degrees	`0.01`
`gps_quality`	`GpsQuality`	the quality of the GPS signal	`RTK_FIXED`
`interval`	`float`	the interval between measurements in seconds	`1.0`
`latency`	`float`	the simulated measurement latency in seconds	`0.0`