ros_real_time_estimation_SDGNSS.yaml

# GICI offline pseudo-real-time SDGNSS 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_eph
      type: ros
      topic_name: /gici/gnss_ephemeris
      io: input
      format: gnss_raw
      enable_ephemeris: true
      enable_ionosphere_parameter: true
  - 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>/sdgnss_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_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_gnss
    type: sdgnss
    input_tags: [str_ros_gnss_rov, str_ros_gnss_ref, str_ros_gnss_eph, fmt_dcb_file]
    str_ros_gnss_rov_roles: [rover]
    str_ros_gnss_ref_roles: [reference]
    str_ros_gnss_eph_roles: [ephemeris]
    fmt_dcb_file_roles: [code_bias]
    output_tags: [str_solution, str_solution_odometry, str_solution_path, fmt_solution_file]
    output_align_tag: str_ros_gnss_rov
    compute_covariance: false
    sdgnss_options:
      estimate_velocity: true
    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_schur
      trust_region_strategy_type: dogleg

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