package bosdyn.api.gps

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The AggregatorService is an endpoint that clients should send GPS data too. Data dumped into the AggregatorService is used by the RegistrationService. In practice: - A GPS will be connected to a peripheral computer - The peripheral computer should establish timesync with the robot - The peripheral computer should read data from the GPS hardware - The peripheral computer should send timestamped data to the AggregatorService

• rpc NewGpsData (NewGpsDataRequest, NewGpsDataResponse)

  aggregator_service.proto:26

  message NewGpsDataRequest

  aggregator.proto:17

  • optional RequestHeader header = 1

    Common request header.

  • repeated GpsDataPoint data_points = 2

    GPS Measurements. GPS units that generate data at a high rate can bundle multiple measurements together in a single message.

  • optional GpsDevice gps_device = 3

    Describer for what device is generating GPS data.

  message NewGpsDataResponse

  aggregator.proto:29

  • optional ResponseHeader header = 1

    Common response header.

The RegistrationService consumes data sent to the Gps/AggregatorService. It calculates where the robot is in the world, and the transforms from the robots internal frames to the world frame.

• rpc GetLocation (GetLocationRequest, GetLocationResponse)

  registration_service.proto:22

  message GetLocationRequest

  registration.proto:81

  • optional RequestHeader header = 1

    Common request header.

  message GetLocationResponse

  registration.proto:86

  • optional ResponseHeader header = 1

    Common response header.

  • GetLocationResponse.Status status = 2

  • optional Registration registration = 3

• rpc ResetRegistration (ResetRegistrationRequest, ResetRegistrationResponse)

  registration_service.proto:23

  message ResetRegistrationRequest

  registration.proto:101

  • optional RequestHeader header = 1

    Common request header.

  message ResetRegistrationResponse

  registration.proto:106

  • optional ResponseHeader header = 1

    Common response header.

Quality of registration status.

Used in: GetLocationResponse

• STATUS_UNKNOWN = 0

• STATUS_OK = 1

• STATUS_NEED_DEVICE = 2

Used in: GpsState, LocationAndGpsDevice, NewGpsDataRequest

• optional LLH llh = 1

  The GPS measurement as Latitude, Longitude, Height.

• optional Vec3 ecef = 13

  The GPS measurement with respect to the Earth Centered Earth Fixed frame

• optional google.protobuf.DoubleValue yaw = 2

  Magnetometer yaw. 0 is north. Processes counter clockwise. We did this to match Spot's body coordinate system, where Z is up.

• optional google.protobuf.DoubleValue heading = 3

  Movement heading. 0 is north. Processes counter clockwise. We did this to match Spot's body coordinate system, where Z is up.

• optional GpsDataPoint.Accuracy accuracy = 4

• repeated GpsDataPoint.Satellite satellites = 5

  Satellites used in the location solution.

• optional GpsDataPoint.FixMode mode = 6

  The current fix, if any.

• optional google.protobuf.Timestamp timestamp_gps = 7

  GPS timestamp. This will *not* match robot time.

• GpsDataPoint.Filter filter = 8

• optional google.protobuf.Timestamp timestamp_client = 9

  Optional field corresponding the timestamp of the computer the GPS is connected to (if any).

• optional google.protobuf.Timestamp timestamp_robot = 10

  Robot timestamp.

• optional SE3Pose body_tform_gps = 12

  How the GPS is mounted relative to the robots body.

Estimated accuracy is measured in meters

Used in: GpsDataPoint

• double horizontal = 1

• double vertical = 2

Used in: GpsDataPoint

• FILTER_UNKNOWN = 0

• FILTER_NONE = 1

• FILTER_DURO_INS = 2

Used in: GpsDataPoint

• FixMode.Mode value = 1

  The current type of fix.

Types of fixes possible.

Used in: FixMode

• Invalid = 0

• SPP = 1

  Single Point Positioning

• DGNSS = 2

  Differential Global Navigation Satellite System

• PPS = 3

  Precise Positioning System Fix

• FIXED_RTK = 4

  Fixed-Point Real-Time Kinematics

• FLOAT_RTK = 5

  Floating-Point Real-Time Kinematics

• DEAD_RECKONING = 6

• FIXED_POSITION = 7

• SIMULATED = 8

• SBAS = 9

  Satellite Based Augmentation System

Information about a GNSS satellite measurement.

Used in: GpsDataPoint

• uint32 prn = 1

  satellite identifier

• float elevation = 2

  Degrees from -90 to 90

• float azimuth = 3

  Degrees from true north

• float snr = 4

  in dB

• Satellite.Constellation constellation = 5

Used in: Satellite

• UNKNOWN = 0

• GPS_L1CA = 1

• GPS_L2CM = 2

• SBAS_L1CA = 3

• GLONASS_L1CA = 4

• GLONASS_L2CA = 5

• GPS_L1P = 6

• GPS_L2P = 7

• BDS2_B1 = 8

  BDS stands for the BeiDou Navigation Satellite System

• BDS2_B2 = 9

• GALILEO_E1B = 10

• GALILEO_E7I = 11

Used in: GpsState, LocationAndGpsDevice, NewGpsDataRequest

• string name = 1

  A human readable name for this GPS unit. "Piksi" or "Duro" or "Microstrain"

Used in: Registration

• optional GpsDataPoint latest_data = 2

  Latest data from the GPS device.

• optional GpsDevice gps_device = 3

  What GPS device generated the latest data

• optional Vec3 ecef_p_body = 4

  Estimate of where the robot's body is in the ECEF frame given this measurement. Note this must be a position and not a pose because of the lack of orientation data.

• repeated GpsDataPoint historical_data = 5

  Collection of all GPS data received by this device within some window.

Latitude/longitude location representation.

Used in: GpsDataPoint, Registration, graph_nav.GPSLocalization, graph_nav.GPSNavigationParams

• double latitude = 1

  Latitude value in degrees.

• double longitude = 2

  Longitude value in degrees.

• double height = 3

  Height value in meters. The reference system from where the height is calculated is controlled by the application generating this structure.

• optional GpsDataPoint data_point = 1

• optional GpsDevice device = 2

Used in: GpsProperties, GetLocationResponse

• Registration.Status status = 1

• optional google.protobuf.Timestamp timestamp = 4

  Time stamp of latest registration.

• optional FrameTreeSnapshot transforms_snapshot = 5

  Includes all normal robots frames ("body", "odom", etc) AND "ecef" frame, which you can read about here: https://wikipedia.org/wiki/ECEF

• optional LLH robot_body_location = 6

  The estimated position of the robot's body frame in LLH form. This position is filtered.

• repeated GpsState gps_states = 7

  Most recent data from each GPS. Note that the LLH the GPS is reporting won't exactly match robot_body_location, because robot_body_location is filtered, and the GPS might have some offset relative to the robot's body.

• optional Registration.Quality quality = 8

Information about the quality of the registration.

Used in: Registration

• int32 num_points = 1

  The number of points being used in the registration.

• optional Matrix covariance = 2

  The 3D position covariance 3x3 matrix calculated from the registration and measured with respect to the "odom" frame.

• optional Matrix residuals = 3

  The residuals of the computed registration.

• double mean_residual = 4

  The mean of the residuals of the registration.

Quality of registration status.

Used in: Registration

• STATUS_UNKNOWN = 0

• STATUS_OK = 1

• STATUS_NEED_DATA = 2

  No data has been reported to perform registration.

• STATUS_NEED_MORE_DATA = 3

  Data has been reported, but not enough to get a fix.

• STATUS_STALE = 4

  We have a registration, but it is based on old data.

• STATUS_HIGH_ERROR = 5

  If the registration is poor, signal high error.