{"id":31802042,"url":"https://github.com/levichen1126/gnss-localizer","last_synced_at":"2026-05-17T02:48:17.398Z","repository":{"id":312580886,"uuid":"1047961990","full_name":"LeviChen1126/GNSS-Localizer","owner":"LeviChen1126","description":"ROS/Autoware GNSS localizer — converts NMEA to map-frame poses with full Transverse Mercator projection and GNRMC (yaw) support.","archived":false,"fork":false,"pushed_at":"2025-08-31T18:15:45.000Z","size":107,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"main","last_synced_at":"2025-08-31T18:25:07.499Z","etag":null,"topics":["autoware","gnss","localization","nmea","ros","rtk-gps"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/LeviChen1126.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2025-08-31T16:08:45.000Z","updated_at":"2025-08-31T18:15:48.000Z","dependencies_parsed_at":"2025-08-31T18:25:08.486Z","dependency_job_id":"8cd6a1e3-f82f-492c-bcd5-b82eb8533426","html_url":"https://github.com/LeviChen1126/GNSS-Localizer","commit_stats":null,"previous_names":["levichen1126/gnss-localizer"],"tags_count":null,"template":false,"template_full_name":null,"purl":"pkg:github/LeviChen1126/GNSS-Localizer","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/LeviChen1126%2FGNSS-Localizer","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/LeviChen1126%2FGNSS-Localizer/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/LeviChen1126%2FGNSS-Localizer/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/LeviChen1126%2FGNSS-Localizer/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/LeviChen1126","download_url":"https://codeload.github.com/LeviChen1126/GNSS-Localizer/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/LeviChen1126%2FGNSS-Localizer/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":279005657,"owners_count":26083941,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-10-10T02:00:06.843Z","response_time":62,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["autoware","gnss","localization","nmea","ros","rtk-gps"],"created_at":"2025-10-11T00:16:18.791Z","updated_at":"2025-10-11T00:16:23.316Z","avatar_url":"https://github.com/LeviChen1126.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# GNSS_Localizer\n\n[中文版本](./README_zh-TW.md)\n\n\u003e This project generates `/gnss_pose` from GNSS/NMEA data, transforms it into the map frame, and can be integrated with modules such as `ndt_matching`.  \n\n---\n\n## Introduction\n\n### 1. `nmea2tfpose`\n- Subscribes: `/nmea_sentence` (from serial GNSS receiver)  \n- Publishes: `/gnss_pose` (`geometry_msgs/PoseStamped`, frame = `map`)  \n- Key modifications:  \n  - **Supports GNRMC messages** and integrates `yaw_` (heading).  \n  - Supports plane selection (Plane 13 = NTUT Ningxin Park in Taipei).  \n\n### 2. `fix2tfpose`\n- Subscribes: `/fix` (`sensor_msgs/NavSatFix`)  \n- Publishes: `/gnss_pose`  \n- Function: Converts GNSS Fix directly into pose in the map frame.  \n\n### 3. `geo_pos_conv`\nConverts latitude/longitude (WGS84) → local Cartesian coordinates (x,y,z).  \n- **`geo_pos_conv_SPIE.cpp`**  \n  - Implements the **complete Transverse Mercator projection** (rigorous mathematical formulas for converting from the Earth ellipsoid to a planar Cartesian coordinate system).  \n  - High accuracy, suitable for large-area use.  \n\n- **`geo_pos_conv_mydicoor.cpp`**  \n  - Uses a **linear approximation**:  \n    ```cpp\n    m_x = (m_lat - m_PLato) * 110773.52...\n    m_y = (m_lon - m_PLo) * 100914.35...\n    m_z = 0\n    ```\n  - Suitable for small local areas (e.g., campus/test field), with lower computation cost.  \n  - Limitation: Errors increase with distance from the origin.  \n\n**Recommendation**:  \n- Large-scale, multi-location tests → use `SPIE`  \n- Small-area quick demos → `mydicoor` is sufficient  \n\n### RQT Graph\n![](./images/rqt_graph.png)\n\n---\n\n## Development Environment\n- **CMake** 3.10+  \n- **C++17** compiler  \n- (For ROS1 build) `roscpp`, `sensor_msgs`, `geometry_msgs`, `tf`, `nmea_msgs`\n\n---\n\n## Installation / Usage Examples\n\u003e ⚠️ Note: Please rename the corresponding `CMakeLists.*.txt` file to `CMakeLists.txt` before building.\n\n### ROS (catkin)\n```bash\nmv CMakeLists.catkin.txt CMakeLists.txt       # rename\n# package.xml must also be placed in the root directory\ncd ~/catkin_ws/src\nln -s /path/to/GNSS-Localizer .\ncd ..\ncatkin_make\nsource devel/setup.bash\nrosrun gnss_localizer nmea2tfpose\n```\n\n### CMake (Only for Demo)\n```bash\nmv CMakeLists.cmake.txt CMakeLists.txt   # rename\nmkdir -p build \u0026\u0026 cd build\ncmake ..\nmake -j\n./gnss_localizer\n```\n\n---\n\n## Integration with Autoware\n\n- ### Setup steps\n  1. Launch the Serial GNSS node that publishes `/nmea_sentence`.  \n  2. Launch the `nmea2tfpose` node with parameter `plane: 13` (Ningxin Park).  \n  3. In `ndt_matching`:  \n     - Set the initial pose (`initial_pos`) to `gnss`.  \n     - Adjust the `fitness_score` threshold to **1.0** (default 500 is not suitable for RTK-GPS precision).  \n  4. Use `rqt_tf_tree` to verify the TF structure.  \n\n---\n\n## Project Structure\n```bash\nGNSS-Localizer/\n├── .gitattributes\n├── .gitignore\n├── LICENSE\n├── CMakeLists.catkin.txt\n├── CMakeLists.cmake.txt\n├── package.xml\n├── images\n│   └── rqt_graph.png\n├── gnss/\n│   ├── geo_pos_conv_mydicoor.cpp    # Simplified local coordinate conversion\n│   └── geo_pos_conv_SPIE.cpp        # Accurate projection-based conversion\n└── gnss_localizer/\n    ├── fix2tfpose/\n    │   └── fix2tfpose.cpp           # GNSS Fix → TF Pose\n    └── nmea2tfpose/\n        └── nmea2tfpose_core_SPIE.cpp # NMEA Sentence → Pose\n```\n\n---\n\n## License and Acknowledgment\n- [MIT License](./LICENSE)  \n- [Autoware](https://www.autoware.org/)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Flevichen1126%2Fgnss-localizer","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Flevichen1126%2Fgnss-localizer","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Flevichen1126%2Fgnss-localizer/lists"}