• Add static initilization skip mode
• Add covariance in nmea2fix
• fixed stop judgment bug
• Fix height in eagleye_fix

for experiment

• Add meridional-aberration-angle_correction
• Add covariance output function
• Multi-antenna mode support

• Add meridional-aberration-angle_correction
• Add covariance output function
• We have ceased development of ROS1 in public. From now on, we will continue our development with ROS2 in public.
• We have also ended the development of eagleye_pp in public.

It is almost equivalent to ros1 except for the absence of eagleye_pp.
https://github.com/MapIV/eagleye/releases/tag/v1.6.0-ros1

Added multi-antenna support, which was not supported in v.1.5.0-ros2.

・Covariance output for pose and twist
Covariance settings are made in the following
eagleye_rt
https://github.com/MapIV/eagleye/pull/200/files#diff-2f7a65a1e23b820afda9245b8debf9b5565a242bb78253962b1fc03ae43baaf0
eagleye_pp
https://github.com/MapIV/eagleye/pull/200/files#diff-4a5310f344793607ed1445400eb9012b14851ae7fbda88ae74785248acb5d9dd
See README.md in the same directory as the yaml file for the meaning of the parameters.
・Faster(2-3x) processing of analysis scripts(trajectory_plot packages)
・Modified eagleye input format to be more configurable
https://github.com/MapIV/eagleye/blob/develop-ros1/eagleye_rt/config/eagleye_config.yaml#L6-L15
nmea2fix package and navpvt2rtk node integrated into gnss_conveter package
・More configuration items for fix2pose.
https://github.com/MapIV/eagleye/blob/develop-ros2/eagleye_util/fix2pose/launch/fix2pose.xml#L6-L30

・ros2 humble support
・The difference from v.1.5.0-ros1 is that it does not support pp(post process) and dual antenna.
v.1.5.0-ros1
https://github.com/MapIV/eagleye/releases/tag/v1.5.0-ros1

・Dual antenna support
Use eagleye_rt_dualantenna.launch to use this feature.
・Safety mechanism in case Yawrate Offset and Velocity Scalefactor estimation fails
You can set the threshold of the estimated value in velocity_scale_factor.th_velocity_scale_factor_percent.
Compare eagleye angular rates with non-eagleye angular rate sources by setting monitor.use_compare_yawrate to true
・Mechanism to prevent eagleye from being estimated when starting without standing still to improve accuracy
・Make the parameter specify the sensor period instead of the number of buffers
See below for details on parameters.
https://github.com/MapIV/eagleye/blob/main-ros1/eagleye_rt/config/README.md

・The only difference from v.1.4.0-ros1 is that it does not support pp(post process).
v.1.4.0-ros1
https://github.com/MapIV/eagleye/releases/tag/v1.4.0-ros1

1. llegal value diagnosis

• If the velocity scale factor is too small or too large, the error is output by Diagnosis.
• The threshold can be adjusted in config monitor.th_velocity_scale_factor_percent.

2. Refactoring kml output
3. ublox msgs support

• Use launch/navpvt_rt.launch

5. covariance output

• Simplified covariance output
• Not accurate enough to be included in the Kalman filter

6. Add function to output csv in eagleye_rt.

• monitor.log_output_status in config must be set to true.

7. Add IMU tf conversion node

• Prior to this implementation, the IMU mounting position was fixed.
• For eagleye_rt, change sensors_tf.yaml in eagleye_util/tf package, and for eagleye_pp, change imu.base_link2imu in eagleye_pp_config.yaml

8. Added eagleye_util/trajectory_plot, a script to analyize eagleye csv.
   https://github.com/MapIV/eagleye/tree/v1.4.0-ros1/eagleye_util/trajectory_plot
9. can less mode is added.

• In this mode you can move the eagleye without vehicle speed, but you cannot back up and it is more unstable than with speed in a non open sky environment
• Note that RTK is required for this mode.
• Use launch/eagleye_rt_canless.launch for eagleye_rt and set use_canless_mode in eagleye_pp_config.yaml to true for eagleye_pp