ROS rviz_ Satellite function package visualizes GNSS track and uses satellite map

Installation steps

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/nobleo/rviz_satellite   # clone Function pack 

cd ..
catkin_make  #  compile , If an error is reported during compilation , It is recommended to use rosdep Tool installation dependency 

Usage method ：

Play contains gnss Information function package , see "/fix" The longitude and latitude height in the initial positioning state of the topic , If this is a difference RTK, It is suggested that the longitude and latitude height when the fixed solution is adopted .

The longitude and latitude height shown in the above figure and position_covariance Need to fill in rviz_satellite Of demo.gps In the configuration file .

demo.gps The message type stored in the file is sensor_msg/NavSatFix A frame of data .

You can start after configuring to basic rviz_satellite Feature Pack , function launch file

roslaunch rviz_satellite demo.launch

Some introduction to parameters ：

Focus on Rviz Interface Zoom and Blocks These two parameters .

Readme.md These two parameters are introduced in the document ：

- `Zoom` is the zoom level of the map. Recommended values are 16-19, as anything smaller is _very_ low resolution. 22 is the current max.

- `Blocks` number of adjacent blocks to load. rviz_satellite will load the central block, and this many blocks around the center. 8 is the current max.

Personal understanding ：

-Zoom： The focal length , Similar to resolution . The greater the numerical , The clearer the satellite map , Again Rviz The smaller the range of the satellite map displayed in .

-Blocks： The greater the numerical , The larger the range of the loaded satellite map .

commonly Zoom and Blocks These two parameters are set at the same time , Select the optimal value .

Attach a picture of yourself running out ：

The green line in the picture is drawn GNSS The trajectory , I didn't use the difference here , So the trajectory doesn't look very smooth .  Visualization involves some coordinate transformation , No introduction here . In theory, it's WGS84 turn ENU.