ros_real_time_estimation_PPP.yaml

# GICI offline pseudo-real-time PPP estimation with ROS topics as input and output. 
stream:
  streamers:
    - streamer:
        tag: str_ros_gnss_rov
        type: ros
        topic_name: /gici/gnss_rover
        io: input
        format: gnss_raw
        enable_observation: true
    - streamer:
        tag: str_ros_gnss_ref
        type: ros
        topic_name: /gici/gnss_reference
        io: input
        format: gnss_raw
        enable_observation: true
        enable_antenna_position: true
    - streamer:
        tag: str_ros_gnss_ssr
        type: ros
        topic_name: /gici/gnss_ssr
        io: input
        format: gnss_raw
    - streamer:
        tag: str_gnss_atx
        output_tags: [fmt_gnss_atx]
        type: file
        path: <gici-root-directory>/option/igs14.atx
        enable_time_tag: false
    - 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>/ppp_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_atx
        type: atx-file
    - 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: false

estimate:
- estimator:
    tag: est_ppp
    type: ppp
    input_tags: [str_ros_gnss_rov, str_ros_gnss_ref, str_ros_gnss_ssr, fmt_dcb_file, fmt_gnss_atx]
    str_ros_gnss_rov_roles: [rover]
    str_ros_gnss_ref_roles: [ephemeris]
    str_ros_gnss_ssr_roles: [ssr_ephemeris]
    fmt_dcb_file_roles: [code_bias]
    fmt_gnss_atx_roles: [phase_center]
    output_tags: [fmt_solution_file]
    output_align_tag: str_ros_gnss_rov
    compute_covariance: false
    ppp_options:
      max_window_length: 3
      use_ambiguity_resolution: false
      estimate_velocity: true
    gnss_estimator_base_options:
      use_outlier_rejection: true
      max_pesudorange_error: 4.0
      max_phaserange_error: 0.03
      gnss_error_parameter:
        code_to_phase_ratio: 1000.0
      gnss_common:
        min_elevation: 12.0
        min_SNR: [30.0, 30.0]
        # system_exclude: [R]
    estimator_base_options:
      max_iteration: 5
      num_threads: 2
      max_solver_time: 0.02
      verbose_output: true
      solver_type: dense_schur
      trust_region_strategy_type: dogleg
      log_intermediate_data: false
      log_intermediate_data_directory: <log-directory>

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