how to modify this driver to output the position of satellites with topic?

[weisongwen]

Dear All,

I want to get position information and elevation angle of the satellites, but I find that this driver only interpret parser the log request as follow:

log_request:
inspvaxb: 1
bestposb: 1
corrimudatab: 1
inscovb: 1

I checked the log request and I find that they did not contain any information about the satellites position and elevation angle.

In this case, does any one know how to get the satellite position and elevation angle ?

Thanks a lot!

[icolwell]

Hi @weisongwen, the first step would be identifying the novatel message you need. The docs list all the message types from the novatel receiver. Then you would have to make a corresponding ROS message in novatel_msgs.

[weisongwen]

Hi @icolwell , Thanks for your reply.

I checked from the mannual and I need the message from the log request: GPGSV

In this case, how should I modified this driver code? Autually, I am not quite good at Python, as I use C++ mostly.

Thanks a lot!

[icolwell]

Create a ROS message that contains the same fields as the GPGSV message. You can look at the existing novatel_msgs .msg files for reference. Then update the mapping.py with your message.

I may be missing a detail here or there, but that is the general gist of it.

[lukaszbleszynski]

I followed Your instruction to get the HEADING2 log. I can see the topic in the list but I receive no messages. I only receive INSPVAX messages but no bestpos or other messages. Any ideas?