ros_real_time_estimation_SPP.yaml

# GICI offline pseudo-real-time SPP estimation with ROS topics as input and output
stream:
  streamers:
    - streamer:
        tag: str_ros_gnss_rov
        type: ros
        topic_name: /gici/gnss_rover
        io: input
        format: gnss_raw
        enable_observation: true
    - streamer:
        tag: str_ros_gnss_eph
        type: ros
        topic_name: /gici/gnss_ephemeris
        io: input
        format: gnss_raw
        enable_ephemeris: true
        enable_ionosphere_parameter: true
    - streamer:
        tag: str_dcb_file
        output_tags: [fmt_dcb_file]
        type: file
        path: <gici-root-directory>/option/CAS0MGXRAP_20221580000_01D_01D_DCB.BSX
        enable_time_tag: false
    - streamer:
        tag: str_solution_file
        input_tags: [fmt_solution_file]
        type: file
        path: <output-directory>/spp_solution.txt
        enable_time_tag: false
    - streamer:
        tag: str_solution
        type: ros
        topic_name: solution
        queue_size: 5
        io: output
        format: pose_stamped
    - streamer:
        tag: str_solution_odometry
        type: ros
        topic_name: solution_odometry
        queue_size: 10
        io: output
        format: odometry
        subframe_id: Body
    - streamer:
        tag: str_solution_path
        type: ros
        topic_name: solution_path
        queue_size: 100
        io: output
        format: path

  formators:
    - formator:
        io: input
        tag: fmt_dcb_file
        type: dcb-file
    - formator:
        io: output
        tag: fmt_solution_file
        type: nmea 
        use_esa: true
        talker_id: GP

  replay:
    enable: false

estimate:
- estimator:
    tag: est_spp
    type: spp
    input_tags: [str_ros_gnss_rov, str_ros_gnss_eph, fmt_dcb_file]
    str_ros_gnss_rov_roles: [rover]
    str_ros_gnss_eph_roles: [ephemeris]
    fmt_dcb_file_roles: [code_bias]
    output_tags: [str_solution, str_solution_odometry, str_solution_path, fmt_solution_file]
    output_align_tag: str_ros_gnss_rov
    compute_covariance: false
    spp_options:
      estimate_velocity: false
    gnss_estimator_base_options:
      gnss_common:
        min_elevation: 12.0
        min_SNR: [35.0, 30.0]
      use_outlier_rejection: true
      max_pesudorange_error: 10.0
    estimator_base_options:
      max_iteration: 10
      num_threads: 2
      max_solver_time: 0.05
      verbose_output: true
      solver_type: dense_normal_cholesky
      trust_region_strategy_type: levenberg_marquardt

logging:
  enable: true
  min_log_level: 0
  log_to_stderr: true
  file_directory: <log-directory>