https://github.com/MapIV/rtklib_ros_bridge

ROS bridge for RTKLIB v2.4.3
https://github.com/MapIV/rtklib_ros_bridge

gnss ros ros2 rtklib

Last synced: about 2 months ago
JSON representation

ROS bridge for RTKLIB v2.4.3

• Host: GitHub
• URL: https://github.com/MapIV/rtklib_ros_bridge
• Owner: MapIV
• License: other
• Created: 2019-09-06T06:09:12.000Z (almost 5 years ago)
• Default Branch: master
• Last Pushed: 2023-06-07T21:44:26.000Z (about 1 year ago)
• Last Synced: 2024-02-03T06:37:56.776Z (5 months ago)
• Topics: gnss, ros, ros2, rtklib
• Language: C++
• Homepage:
• Size: 232 KB
• Stars: 87
• Watchers: 7
• Forks: 19
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Lists

• Awesome-Self-Driving - rtklib_ros_bridge - Rtklib_ros_bridge is a package that outputs the latitude and longitude, satellite reception status, altitude, ecef xyz, ecef velocity vector, and Time of Week (GPS Time) calculated by RTKLIB as ROS messages. (9. GPS, IMU / 8.8. Other)
• awesome-stars - MapIV/rtklib_ros_bridge - ROS bridge for RTKLIB v2.4.3 (C++)

README

        
# rtklib_ros_bridge

[![CircleCI](https://circleci.com/gh/MapIV/rtklib_ros_bridge.svg?style=svg&circle-token=b0ded687015c8cd5440cd1436a31890c3a1697c4)](https://circleci.com/gh/MapIV/rtklib_ros_bridge)

## Overview

rtklib_ros_bridge is a package that outputs the latitude and longitude, satellite reception status, altitude, ecef xyz, ecef velocity vector, and Time of Week (GPS Time) calculated by RTKLIB as ROS messages.

## Install

1) First, download the modified RTKLIB to your home directory.

		cd $HOME  

		git clone https://github.com/MapIV/RTKLIB.git

		cd $HOME/RTKLIB     

		git checkout rtklib_ros_bridge_b34    

	[About RTKLIB](http://www.rtklib.com)

2) Build RTKLIB.

  

		cd $HOME/RTKLIB/lib/iers/gcc/  

		make   

		cd $HOME/RTKLIB/app  

		make   

3) Change the permissions of the two files.

 

		cd $HOME/RTKLIB/app/rtkrcv/gcc  

		chmod 755 rtkstart.sh  

		chmod 755 rtkshut.sh  

4) Next, download and build rtklib_ros_bridge.

		cd $HOME/catkin_ws/src  

		git clone https://github.com/MapIV/rtklib_ros_bridge.git  

		cd ..  

		catkin_make -DCMAKE_BUILD_TYPE=Release  

## Configuration

1) Open RTKLIB settings.

		gedit $HOME/RTKLIB/app/rtkrcv/conf/rtklib_ros_bridge_sample.conf

2) Set the serial device on line 10. If you connect using USB, it is OK.

>Line 10:  

>inpstr1-path =/serial/by-id/usb-u-blox_AG_-_www.u-blox.com_u-blox_GNSS_receiver-if00:9600:8:n:1:off  

※If you know the device number "/dev/ttyACM-" but OK.

3) Next, configure the receiver from ublox application, u-center.The usage of u-center is not described here. Below is an overview of the settings. (Here is how to use a Ublox receiver)  

* Enable UBX message ※Set to output only RAWX and SFRBX

* Save your settings last.

	[About u-center](https://www.u-blox.com/product/u-center)  

## Usage

1) Connect the GNSS receiver and start RTKLIB.

		cd $HOME/RTKLIB  

		bash rtklib_ros_bridge_sample.sh  

2) Check the status of RTKLIB. If GPS Time is moving, it is OK. Execute the following command in the terminal of item 3.

		status 0.1  

※If GPS Time is not working, there may be a mistake in the receiver settings or RTKLIB settings.

3) Start rtklib_ros_bridge.

		rosrun rtklib_bridge rtklib_bridge