eagleye Version 1.4.0(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