GNSS-IMU Fusion (C++)

Node ID: GnssImuFilter_cpp · Role: Filter · Realtime config: no

Inputs / Outputs

Inputs: Gnss, VehicleSpeed, Imu
Outputs: FusedPose, FusedVehiclePose, FusedVehiclePoseV2, GlobalFusedPose, FusionStateInt

Config aliases

gnssImuFusion_cpp

Required feature

vehicular_fusion

Properties

No user-facing properties.

Example node definition

A full node definition in config.json looks like the block below. Paste it under the sinks key of your config, keyed by the node’s instance name (any identifier; it doesn’t have to match the node ID).

{
  "sinks": {
    "GnssImuFilter_cpp": {
      "dataEndpoint": "inproc://GnssImuFilter_cpp_data",
      "inputEndpoints": [
        "inproc://gnss_data",
        "inproc://vehicleSpeed_data",
        "inproc://imu_data"
      ],
      "inputDataFilter": [
        "Gnss",
        "VehicleSpeed",
        "Imu"
      ],
      "settings": {}
    }
  }
}

Field reference

Field	Purpose
`dataEndpoint`	Endpoint this node binds to publish its output. Omit to let the runtime generate one.
`inputEndpoints`	List of upstream endpoints this node connects to (`outEndpoint` / `dataEndpoint` values from upstream nodes).
`inputDataFilter`	Optional whitelist of data types. Messages whose type isn’t in the list are dropped at the subscriber.
`settings`	All user-configurable fields — see the Properties table above.

Connections can also be declared at the top-level connections array when settings.explicitConnections is true, as an alternative to filling inputEndpoints on each node.

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