ROS Index
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rtk_gps_ntrip repositoryfix2nmea ntrip_client rtcm_msgs ublox ublox_gps ublox_msgs ublox_serialization |
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Repository Summary
| Checkout URI | https://github.com/olvdhrm/rtk_gps_ntrip.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-02-24 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| fix2nmea | 0.0.0 |
| ntrip_client | 1.2.0 |
| rtcm_msgs | 1.1.6 |
| ublox | 2.3.0 |
| ublox_gps | 2.3.0 |
| ublox_msgs | 2.3.0 |
| ublox_serialization | 2.3.0 |
README
RTK_GPS_NTRIP
System built on ROS2 Humble distribution to utilize NTRIP for a RTK Global Navigation Satelite System (GNSS).
RTCM corrections obtained through an NTRIP Client are passed through a ROS Topic and provided to the u-blox driver to obtain high accuracy in GPS/GNSS positioning.
1. u-blox Driver
u-blox driver by KumarRobotics is used and can be found here https://github.com/KumarRobotics/ublox.git. The current configuration set is utilized for a ZED F9P receiver acting as a rover.
To activate the ublox node, run the following command in the terminal: ros2 launch ublox_gps ublox_gps_node-launch.py
2. NTRIP Client
NTRIP Client package by LORD-MicroStrain is used and can be found here https://github.com/LORD-MicroStrain/ntrip_client.git. Prior to running the command below, provide the NTRIP credentials (for access, if required) in the ntrip_client_launch.py file including the host, port, mountpoint, username, and password.
To activate the NTRIP Client node, run the following command in the terminal: ros2 launch ntrip_client ntrip_client_launch.py
3. /fix to /nmea Parser
As the NTRIP Client requires an NMEA message, the /fix type message is parsed into an /nmea type message by running the fix2nmea executable. It can be executed by running the following command in the terminal: ros2 run fix2nmea fix2nmea