Use NMEA sentences as velocity source.

NEWSLabNTU · Dec 10, 2024 · ca11175 · ca11175
1 parent 52a8e84
commit ca11175
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/autoware_launch/config/localization/eagleye_config.param.yaml b/autoware_launch/config/localization/eagleye_config.param.yaml
@@ -10,8 +10,8 @@
       twist_topic: /sensing/vehicle_velocity_converter/twist_with_covariance
     imu_topic: /sensing/imu/imu_data
     gnss:
-      velocity_source_type: 3 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3
-      velocity_source_topic: /sensing/vehicle_velocity_converter/twist_with_covariance
+      velocity_source_type: 1 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3
+      velocity_source_topic: /sensing/gnss/garmin/nmea_sentence
       llh_source_type: 1 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2
       llh_source_topic: /sensing/gnss/garmin/nmea_sentence
     sub_gnss: