pseudo_real_time_estimation_SPP.yaml

# GICI offline pseudo-real-time SPP estimation
# You can uncomment the node configuration to publish related topics and observe estimation results (Build GICI in ROS wrapper).
stream:
  streamers:
  - streamer:
      tag: str_gnss_rov_file
      output_tags: [fmt_gnss_rov]
      type: file
      path: <data-directory>/gnss_rover.bin
  - streamer:
      tag: str_gnss_eph
      output_tags: [fmt_gnss_eph]
      type: file
      path: <data-directory>/gnss_ephemeris.bin
  - streamer:
      tag: str_dcb_file
      output_tags: [fmt_dcb_file]
      type: file
      path: <gici-root-directory>/option/CAS0MGXRAP_20221580000_01D_01D_DCB.BSX
      enable_time_tag: false
  - streamer:
      tag: str_solution_file
      input_tags: [fmt_solution_file]
      type: file
      path: <output-directory>/spp_solution.txt
      enable_time_tag: false
#   - streamer:
#       tag: str_solution
#       type: ros
#       topic_name: solution
#       queue_size: 5
#       io: output
#       format: pose_stamped
#   - streamer:
#       tag: str_solution_odometry
#       type: ros
#       topic_name: solution_odometry
#       queue_size: 10
#       io: output
#       format: odometry
#       subframe_id: Body
#   - streamer:
#       tag: str_solution_path
#       type: ros
#       topic_name: solution_path
#       queue_size: 100
#       io: output
#       format: path

  formators:
  - formator:
      io: input
      tag: fmt_gnss_rov
      type: gnss-raw
      sub_type: tersus
  - formator:
      io: input
      tag: fmt_gnss_eph
      type: gnss-rtcm-3
      start_time: 2023.05.21
  - formator:
      io: input
      tag: fmt_dcb_file
      type: dcb-file
  - formator:
      io: output
      tag: fmt_solution_file
      type: nmea 
      use_esa: true
      talker_id: GP

  replay:
    enable: true
    speed: 1.0
    start_offset: 0.0

estimate:
- estimator:
    tag: est_spp
    type: spp
    input_tags: [fmt_gnss_rov, fmt_gnss_eph, fmt_dcb_file]
    fmt_gnss_rov_roles: [rover]
    fmt_gnss_eph_roles: [ephemeris]
    fmt_dcb_file_roles: [code_bias]
    output_tags: [fmt_solution_file]
    # output_tags: [str_solution, str_solution_odometry, str_solution_path, fmt_solution_file]
    output_align_tag: fmt_gnss_rov
    compute_covariance: false
    spp_options:
      estimate_velocity: false
    gnss_estimator_base_options:
      gnss_common:
        min_elevation: 12.0
        min_SNR: [35.0, 30.0]
      use_outlier_rejection: true
      max_pesudorange_error: 10.0
    estimator_base_options:
      max_iteration: 10
      num_threads: 2
      max_solver_time: 0.05
      verbose_output: true
      solver_type: dense_normal_cholesky
      trust_region_strategy_type: levenberg_marquardt

logging:
  enable: true
  min_log_level: 0
  log_to_stderr: true
  file_directory: <log-directory>