Adds param to launch file and publishes message in the right spot

robbiefish · Jul 30, 2021 · 910d856 · 910d856
1 parent b1720e5
commit 910d856
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Showing 2 changed files with 8 additions and 7 deletions.
diff --git a/ros_mscl/launch/microstrain.launch b/ros_mscl/launch/microstrain.launch
@@ -193,12 +193,13 @@
     <param name="filter_adaptive_time_limit_ms" value="15000" type="int" />
 
     <!-- (GQ7 only) Aiding measurement control -->
-    <param name="filter_enable_gnss_pos_vel_aiding"     value="true"  type="bool" />
-    <param name="filter_enable_gnss_heading_aiding"     value="true"  type="bool" />
-    <param name="filter_enable_altimeter_aiding"        value="false" type="bool" />
-    <param name="filter_enable_odometer_aiding"         value="false" type="bool" />
-    <param name="filter_enable_magnetometer_aiding"     value="false" type="bool" />
-    <param name="filter_enable_external_heading_aiding" value="false" type="bool" />
+    <param name="filter_enable_gnss_pos_vel_aiding"      value="true"  type="bool" />
+    <param name="filter_enable_gnss_heading_aiding"      value="true"  type="bool" />
+    <param name="filter_enable_gnss_dual_antenna_status" value="true"  type="bool" />
+    <param name="filter_enable_altimeter_aiding"         value="false" type="bool" />
+    <param name="filter_enable_odometer_aiding"          value="false" type="bool" />
+    <param name="filter_enable_magnetometer_aiding"      value="false" type="bool" />
+    <param name="filter_enable_external_heading_aiding"  value="false" type="bool" />
 
     <!--  External GPS Time Update Control
           Notes:    filter_external_gps_time_topic should publish at no more than 1 Hz.

diff --git a/ros_mscl/src/microstrain_3dm.cpp b/ros_mscl/src/microstrain_3dm.cpp
@@ -2194,6 +2194,7 @@ void Microstrain::parse_filter_packet(const mscl::MipDataPacket &packet)
     m_filter_status_pub.publish(m_filter_status_msg);
     m_filter_heading_pub.publish(m_filter_heading_msg);
     m_filter_heading_state_pub.publish(m_filter_heading_state_msg);
+    m_gnss_dual_antenna_status_pub.publish(m_gnss_dual_antenna_status_msg);
   }
 
   if(m_publish_filter_relative_pos)
@@ -2204,7 +2205,6 @@ void Microstrain::parse_filter_packet(const mscl::MipDataPacket &packet)
     if(m_publish_gnss_aiding_status[i] && gnss_aiding_status_received[i])
       m_gnss_aiding_status_pub[i].publish(m_gnss_aiding_status_msg[i]); 
   }
-  m_gnss_dual_antenna_status_pub.publish(m_gnss_dual_antenna_status_msg);
 }