Tools

This tools is only here to help development of the INS driver. The packets_replayer allow to send on an UDP Socket the content of a pcap file. This file can be used to replay wirechark capture. In a ros environement this is useless because rosbag exists. But to develop the driver this tools is usefull. We can launch the packet replayer with the following command line :

./packets_replayer --ip 127.0.0.1 --port 8000 --period 10 --repeat --file <my pcap file>

All parameters are optional except the pcap file. It is assumed that only the INS frame in UDP protocol is present in the PCAP file.

Changelog for package ixblue_ins_driver

0.1.5 (2020-11-13)

• Use new std_bin_decoder API to reconstruct incomplete frames Avoid the copy of the frame in this driver
• Contributors: Romain Reignier

0.1.4 (2020-10-27)

• Add a param to use compensated acceleration (changes previous behavior)
• Add diagnostics publication
• Change default frame_id in launch to match node default
• Fix orientation quaternion content and make NED convention explicit.
• Bump minimum CMake version to avoid CMP0048 on Noetic buildfarm
• Contributors: BARRAL Adrien, Romain Reignier

0.1.3 (2020-09-01)

• Add boost thread as test dependency to fix Debian Stretch build
• Contributors: Romain Reignier

0.1.2 (2020-08-31)

• Fix packets_replayer build by adding CMake package Threads
• Contributors: Romain Reignier

0.1.1 (2020-08-28)

• Fix boost dependency for Noetic release Only build the packets_replayer if tests are being built
• Breaking change: Rename ins.msg to Ins.msg and iX/ins topic to ix/ins topic to follow ROS coding style
  • In ROS, message names are CamelCase
  • Topics are in lower case
• Publish ROS time in header of TimeReference message
• Contributors: BARRAL Adrien, Romain Reignier

0.1.0 (2020-08-27)

• Prepare ROS release
• Add unit test on ROSPublisher::toNavSatFix()
• Prepare files catkin for release
• Switch stdbin data received log to debug level
• Default packets_replayer port is now the same than driver And add missing newline at the end of error message
• ixblue_stdbin_decoder can now be a package within the ROS workspace and not only a system library anymore
• Apply ixblue_stdbin_decoder changes on namespace and include dir name
• Build packets_replayer only if PCAP dev package is found
• Initial Commit.
• Contributors: Adrien BARRAL, Romain Reignier