eagleye Version 1.4.0(ROS1)

1. llegal value diagnosis

• If the velocity scale factor is too small or too large, the error is output by Diagnosis.
• The threshold can be adjusted in config monitor.th_velocity_scale_factor_percent.

2. Refactoring kml output
3. ublox msgs support

• Use launch/navpvt_rt.launch

5. covariance output

• Simplified covariance output
• Not accurate enough to be included in the Kalman filter

6. Add function to output csv in eagleye_rt.

• monitor.log_output_status in config must be set to true.

7. Add IMU tf conversion node

• Prior to this implementation, the IMU mounting position was fixed.
• For eagleye_rt, change sensors_tf.yaml in eagleye_util/tf package, and for eagleye_pp, change imu.base_link2imu in eagleye_pp_config.yaml

8. Added eagleye_util/trajectory_plot, a script to analyize eagleye csv.
   https://github.com/MapIV/eagleye/tree/v1.4.0-ros1/eagleye_util/trajectory_plot
9. can less mode is added.

• In this mode you can move the eagleye without vehicle speed, but you cannot back up and it is more unstable than with speed in a non open sky environment
• Note that RTK is required for this mode.
• Use launch/eagleye_rt_canless.launch for eagleye_rt and set use_canless_mode in eagleye_pp_config.yaml to true for eagleye_pp

Eagleye Version 1.3.0(ROS2)

・The only difference from v.1.3.0-ros1 is that it does not support pp(post process).
v.1.3.0-ros1
https://github.com/MapIV/eagleye/releases/tag/v1.3.0-ros1

Eagleye Version 1.3.0(ROS1)

・Published eagleye_pp(post process) as open source
・Improved accuracy in tunnel sections in eagleye_pp
・Addition of roll angle estimation function
・Addition of option to use nmea rmc instead of rktlibnav messages
・Add opition to save velocity scale factor
・Improve method of updating data buffers
・Fixed a bug in output when imu was facing the opposite direction.
・Forward only processing by eageye_pp

Eagleye Version 1.1.6 (ROS2)

Fix buffering problems

Eagleye Version 1.1.5 (ROS2)

ros2 galactic support in eagleye ver1.1.5

Eagleye Version 1.2.0 (ROS1)

1. Feature Addition
   ・Support for sensor TF in a "fix2pose" package.
   ・Added output of eagleye corrected imu data "/imu/data_corrected".
   ・Supports 3-axis angular velocity correction
   ・Yawrate consideration
   ・The reliability of the Fix solution can be output.
   ・Add nmea2fix
   ・Position estimation function using RTK.
   ・Replacement of the geoid model with a highly accurate one
   ・Add function to switch between ellipsoid height and elevation
   ・Azimuth correction at low speeds using rtk
   ・remake a fix2kml package
   ・add a tf_arrangement package
   ・add diagnostic

2. Bug Fix
   ・Other multiple bug fixes.
   ・Change sin, cos and other functions to those of the std library
   ・Fix a bug that caused NAN to appear during height estimation.
   ・add NaN guard

3. Others
   ・Adding a sample configuration file for Ublox F9P
   ・Rename topic
   ・Some license modifications have been made.
   ・Change CI(Circle CI to Github Actions)
   ・merged eagleye_topic.yaml into ealgye_config.yaml.
   ・Remove redundant expressions in README.md
   ・colcon support

Eagleye Version 1.1.3-dev (ROS2)

ros2 foxy support in eagleye ver1.1.3-dev

Eagleye Version 1.1.5 (ROS1)

・add diagnostic
　　　・diagnostics is a ROS tool for managing errors.
・add nan guard
　　　・NaN when the time difference between the time stamps of IMU sensors is not constant
　　　・NaN when the vehicle speed is 0 while the vehicle is moving
・colcon support
　　　・colcon is the build system used in ROS1/ROS2.
・add tf_arrangement
　　　・tf can now be set in detail.
・fix some bugs
・remake fix2kml
・merged eagleye_topic.yaml into ealgye_config.yaml.

Eagleye Version 1.1.4

・Replacement of the geoid model with a highly accurate one
・Add function to switch between ellipsoid height and elevation
・Azimuth correction at low speeds using rtk
・Change sin, cos and other functions to those of the std library
・Position estimation function using RTK.
・Some license modifications have been made.

Eagleye Version 1.1.3

Update Details

• The reliability of the Fix solution can be output.
• Add nmea2fix
• Fix bag pitching
• Yawrate consideration
• Add nmea2fix
• Rename topic
• Significantly update README.md