For configuring the ADMA ROS Driver the according parameters in the adma_ros2_driver\/config\/driver_config.yaml<\/code> file have to be modified. If the workspace was built with colcon build --symlink-install<\/code>, it is possible to restart the node after changing configuration parameters directly. Otherwise (built without ‘–symlink-install’) it is necessary to rebuild the workspace to update the files. Same “linking” rule applies to the launch.py<\/code> files. The available parameters are described below.<\/p>\n\n\n\n
For the destination ip<\/mark> and port<\/mark> <\/mark><\/strong>you have to apply the same settings as in the ADMA ADMAnet setup.<\/p>\n\n\n\n
In this case it is the 192.168.88.255<\/mark> <\/mark>(broadcast) with the destination port 11021<\/mark>.<\/p>\n<\/div>\n\n\n\n
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Protocol version<\/h4>\n\n\n\n
Please also adapt the protocol version<\/mark> to the one used in your ADMAnet setup. The following protocol version are available:<\/p>\n\n\n\n
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v3.2<\/li>\n\n\n\n
v3.3.3<\/li>\n\n\n\n
v3.3.4<\/li>\n\n\n\n
v3.3.5<\/li>\n\n\n\n
v3.3.6<\/li>\n<\/ul>\n\n\n\n
Measurement point<\/h4>\n\n\n\n
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ROS topics can be output at specific measurement points within the vehicle using ADMA Points of Interest (POIs). These POIs are defined in the ADMA web interface by setting user-defined offsets relative to the Measurement Reference Point (MRP). In the ADMA ROS Driver, the desired POI for each ROS topic can be selected by specifying the corresponding <\/mark>topic_pois<\/mark> ID in the Driver Config File (0 = MRP, 1-8 = POI 1-8). By default, ROS topics are output at POI 1.<\/p>\n<\/div>\n\n\n\n
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Odometry Topic<\/h4>\n\n\n\n
By default, the odometry topic outputs Yaw relative <\/mark>to the north direction. You can configure an offset for Yaw using the odometry_yaw_offset<\/mark> <\/strong><\/mark>parameter.<\/p>\n\n\n\n
Replay Mode<\/h4>\n\n\n\n
With the mode<\/mark>, it is possible to switch between the online<\/mark> <\/mark>and the replay mode<\/mark>. The replay mode is a built in replay function for subscribing to the \/adma\/data_raw topic<\/mark> of a replayed bag file. This enables only the decoder part of the driver, that takes the rosbag data and publishes them in the standard ADMA ROS driver topics.<\/p>\n\n\n\n
Header Time<\/h4>\n\n\n\n
With the time_mode <\/mark>parameter it is possible to define how the ROS header time stamps shall be defined. Either by the ADMA INS time<\/mark> <\/mark>(default) or by the <\/mark>ROS system time<\/mark>.<\/p>\n\n\n\n
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