README

目录

• drivers-gnss
  • Introduction
  • Directory Structure
  • Modules
    • GnssDriverComponent
      • Input
      • Output
      • configs
      • How to Launch
  • 文档意见反馈

drivers-gnss

Introduction

The GNSS driver is mainly responsible for receiving and processing GNSS signals and passing them to the positioning module to realize high-precision positioning.

Directory Structure

modules/drivers/gnss/
├── BUILD
├── conf
├── cyberfile.xml
├── dag
├── gnss_component.cc
├── gnss_component.h
├── launch
├── parser              // parser to parse different kinds of gnss data
├── proto
├── README.md
├── stream              // stream handler to process gnss data from different data streams
├── test
├── test_data
└── util                // common function

Modules

GnssDriverComponent

apollo::drivers::gnss::GnssDriverComponent

Input

Name	Type	Description
data stream	binary data from gnss stream	-
msg	apollo::canbus::Chassis	chassis message

Output

Name	Type	Description
msg	apollo::drivers::gnss::RawData	gps bin raw data
msg	apollo::drivers::gnss::RawData	gps rtcm raw data
msg	apollo::drivers::gnss::RawData	gnss stream raw data
msg	apollo::drivers::gnss::StreamStatus	gnss stream status

configs

file path	type / struct	Description
modules/drivers/gnss/gnss_conf.pb.txt	apollo::drivers::gnss::conf::Config	gnss config

How to Launch

cyber_launch start modules/drivers/gnss/launch/gnss.launch

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