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https://github.com/swri-robotics/novatel_gps_driver

ROS driver for NovAtel GPS / GNSS receivers
https://github.com/swri-robotics/novatel_gps_driver

Last synced: about 1 month ago
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ROS driver for NovAtel GPS / GNSS receivers

Lists

README 

        
NovAtel GPS Driver [![Build Status](https://travis-ci.org/swri-robotics/novatel_gps_driver.svg?branch=dashing-devel)](https://travis-ci.org/swri-robotics/novatel_gps_driver)

==================



Overview

--------



This is a C++ [ROS](http://www.ros.org/) driver for [NovAtel](https://www.novatel.com/) GPS / GNSS Receivers.  



Features:



- Fast and robust

- Supports serial, TCP, and UDP connections

- Can play back PCAP capture logs to test behavior

- Supports a variety of common NovAtel logs

- Easy to add support for more log types

- Supports ASCII and binary-format NovAtel logs

- Can synchronize `BESTPOS`, `BESTVEL`, and `PSRDOP2` logs together in order to produce 

[gps_common/GPSFix](http://docs.ros.org/kinetic/api/gps_common/html/msg/GPSFix.html) messages

- Tested with OEM4, OEM6, and OEM7 receivers

- Can produce IMU data from receives with SPAN support



It has been tested primarily on NovAtel OEM628 receivers, but it has been used with

various OEM4, OEM6, and OEM7 devices. Please let 

[the maintainers](mailto:[email protected]) know of your success

or failure in using this with other devices so we can update this page appropriately.



Usage

-----



The driver should function on ROS 2 Dashing, and binary packages are available

for both of them.  To install them, first install ROS, then just run:



```bash

sudo apt-get install ros-dashing-novatel-gps-driver

```



If you'd like to build it from source:



```bash

mkdir -p novatel/src

cd novatel/src

git clone https://github.com/swri-robotics/novatel_gps_driver

rosdep install . --from-paths -i

cd ../..

colcon build

```



Then create a `.launch.py` file and configure it as desired:



```python

"""Launch an example driver that communicates using TCP"""



from launch import LaunchDescription

import launch_ros.actions



def generate_launch_description():

    container = launch_ros.actions.ComposableNodeContainer(

        name='novatel_gps_container',

        namespace='',

        package='rclcpp_components',

        executable='component_container',

        composable_node_descriptions=[

            launch_ros.descriptions.ComposableNode(

                package='novatel_gps_driver',

                plugin='novatel_gps_driver::NovatelGpsNode',

                name='novatel_gps',

                parameters=[{

                    'connection_type': 'serial',

                    'device': '/dev/ttyUSB0',

                    'verbose': True,

                    'publish_novatel_positions': True,

                    'publish_novatel_velocity': True,

                    'publish_novatel_psrdop2': True,

                    'frame_id': '/gps'

                }]

            )

        ],

        output='screen'

    )



    return LaunchDescription([container])

```



`gps_common/GPSFix` messages will always be published, but by default, other message 

types are not.  See the config parameters for a list of which other message types can be

enabled.



Packages

--------

1. ### `novatel_gps_msgs`



    ROS messages that represent NovAtel message logs.  Each supported log

    should have its own message type.  A list of official log types can be found

    at http://docs.novatel.com/OEM7/Content/Logs/Log_Reference.htm .

2. ### `novatel_gps_driver`



    A C++ library with an accompanying ROS node and node that can connect to 

    a NovAtel device over a serial, TCP, or UDP connection and translate NovAtel

    logs into ROS messages.



Nodelets

--------



1. ### `novatel_gps_driver/novatel_gps_nodelet`

    1. **ROS Parameters**

        - `connection_type`: Type of physical connection to the device

            - One of `serial`, `tcp`, `udp`, or `pcap`

            - Default: `serial`

        - `device`: Location of device connection.

            - For `serial` connections, the device node; e. g., `/dev/ttyUSB0`

            - For `tcp` or `udp` connections, a `host:port` specification.

                - If the host is omitted, it will listen for connections on the specified port.

                - If the port is omitted, `3001` will be used as the default for TCP connections

                and `3002` as the default for UDP connections.

            - For `pcap` connections, the location of a `.pcap` capture file. 

            Note that the node will exit automatically after finishing playback.

            - Default: Empty

        - `frame_id`: ROS TF frame to place in the header of published messages.

            - Default: Empty

        - `imu_frame_id`: TF frame id to use in IMU messages.

            - Default: Empty

        - `imu_rate`: Desired logging rate in Hz for IMU messages.

            - This is set as the rate for `CORRIMUDATA` logs.

            - Default: `100`

        - `imu_sample_rate`: Sample rate of the connected IMU.  Normally this is automatically detected based on the IMU type.

        - `polling_period`: Desired period between GPS messages. 

            - This will be set as the period for `GPGGA`, `GPRMC`, `GPGSA`, `BESTPOS`, 

            and `BESTVEL` logs.

            - Default: `0.05` (20 Hz)

        - `expected_rate`: Expected publish rate of GPS messages.

            - If time between GPS message stamps is greater than 1.5 times the excepted publish rate, diagnostic warning is published.

            - Default: Based on `polling_period` parameter: `20.0` (20Hz)

        - `publish_clocksteering`: `true` to publish novatel_gps_msgs/ClockSteering messages.

            - Default: `false`

        - `publish_diagnostics`: `true` to publish node diagnostics.

            - Default: `false`

        - `publish_gpgsa`: `true` to publish novatel_gps_msgs/Gpgsa messages.

            - Default: `false`

        - `publish_gpgsv`: `true` to publish novatel_gps_msgs/Gpgsv messages.

            - Default: `false`

        - `publish_gphdt`: `true` to publish novatel_gps_msgs/Gphdt messages.

            - Default: `false`

        - `publish_imu_messages`: `true` to publish novatel_gps_msgs/NovatelCorrectedImuData, novatel_gps_msgs/Inspva,

        novatel_gps_msgs/Inspvax, novatel_gps_msgs/Insstdev, and sensor_msgs/Imu messages.

            - Default: `false`

        - `publish_nmea_messages`: `true` to publish novatel_gps_msgs/Gpgga and novatel_gps_msgs/Gprmc messages.

            - Default: `false`

        - `publish_novatel_dual_antenna_heading`: `true` to publish novatel_gps_msgs/NovatelDualAntennaHeading messages.

            - Default: `false`

        - `publish_novatel_heading2`: `true` to publish novatel_gps_msgs/Heading2 messages.

            - Default: `false`

        - `publish_novatel_positions`: `true` to publish novatel_gps_msgs/NovatelPosition messages.  Note that even if

        this is false, these logs will always be requested from the receiver in order to generate `gps_msgs/GPSFix`

        messages.

            - Default: `false`

        - `publish_novatel_psrdop2`: `true` to publish novatel_gps_msgs/NovatelPsrdop2 messages.  If set, the data from

        these messages will be used to fill in the DoP values in `gps_msgs/GPSFix` messages.  Note that these messages

        are only published when the values change, not at the standard polling rate.

            - Default: `false`

        - `publish_novatel_utm_positions`: `true` to publish novatel_gps_msgs/NovatelUtmPosition messages.

            - Default: `false`

        - `publish_novatel_velocity`: `true` to publish novatel_gps_msgs/NovatelVelocity messages.  If set, the data

        from these messages will be used to fill in the speed and track values in `gps_msgs/GPSFix` messages.

            - Default: `false`

        - `publish_novatel_xyz_positions`: `true` to publish novatel_gps_msgs/NovatelXYZ messages.

            - Default: `false`

        - `publish_range_messages`: `true` to publish novatel_gps_msgs/Range messages.

            - Default: `false`

        - `publish_sync_diagnostic`: If true, publish a time Sync diagnostic.

            - Ignored if `publish_diagnostics` is false.

            - Default: `true`

        - `publish_time_messages`: `true` to publish novatel_gps_msgs/Time messages.

            - Default: `false`

        - `publish_trackstat`: `true` to publish novatel_gps_msgs/Trackstat messages.

            - Default: `false`

        - `reconnect_delay_s`: Second delay between reconnection attempts.

            - Default: `0.5`

        - `serial_baud`: Select the serial baud rate to be used in a serial connection.

            - Default: `115200`

        - `spam_frame_to_ros_frame`: Translate the SPAN coordinate frame to a ROS coordinate frame using the VEHICLEBODYROTATION and APPLYVEHICLEBODYROTATION commands.

            - Default: `false`

        - `use_binary_messages`: `true` to request binary NovAtel logs, `false` to request ASCII.

            - Binary logs are much more efficient and effectively required for IMU data,

            but ASCII logs are easier to parse for a human.

            - Default: `false`

        - `wait_for_sync`: `true` in order to wait for both BESTPOS and BESTVEL messages to arrive before publishing

        `gps_msgs/GPSFix` messages.  If this is `false`, GPSFix messages will be published immediately when BESTPOS

        messages are received, but a side effect is that the driver will often be unable to fill in the speed & track

        fields.  This has no effect if `publish_novatel_velocity` is `false`.

            - Default: `true`

    2. **ROS Topic Subscriptions**

        - `/gps_sync` *(std_msgs/Time)*: *(optional)* Timestamped sync pulses from a DIO module. 

    These are used to improve the accuracy of the time stamps of the messages published.

    3. **ROS Topic Publications**

        - `/bestpos` *(novatel_gps_msgs/NovatelPosition)*: [BESTPOS](http://docs.novatel.com/OEM7/Content/Logs/BESTPOS.htm) logs

        - `/bestutm` *(novatel_gps_msgs/NovatelUtmPosition)*: [BESTUTM](http://docs.novatel.com/OEM7/Content/Logs/BESTUTM.htm) logs

        - `/bestvel` *(novatel_gps_msgs/NovatelVelocity)*: [BESTVEL](http://docs.novatel.com/OEM7/Content/Logs/BESTVEL.htm) logs

        - `/bestxyz` *(novatel_gps_msgs/NovatelXYZ)*: [BESTXYZ](http://docs.novatel.com/OEM7/Content/Logs/BESTXYZ.htm) logs

        - `/clocksteering` *(novatel_gps_msgs/ClockSteering)*: [CLOCKSTEERING](http://docs.novatel.com/OEM7/Content/Logs/CLOCKSTEERING.htm) logs

        - `/corrimudata` *(novatel_gps_msgs/NovatelCorrectedImuData)*: [CORRIMUDATA](http://docs.novatel.com/OEM7/Content/SPAN_Logs/CORRIMUDATA.htm) logs

        - `/diagnostics` *(diagnostic_msgs/DiagnosticArray)*: ROS diagnostics

        - `/dual_antenna_heading` *(novatel_gps_msgs/NovatelDualAntennaHeading)*: [DUALANTENNAHEADING](http://docs.novatel.com/OEM7/Content/Logs/DUALANTENNAHEADING.htm) logs

        - `/fix` *([sensor_msgs/NavSatFix](https://docs.ros.org/kinetic/api/sensor_msgs/html/msg/NavSatFix.html))*: GPSFix messages converted to NavSatFix messages

        - `/gpgga` *(novatel_gps_msgs/Gpgga)*: [GPGGA](http://docs.novatel.com/OEM7/Content/Logs/GPGGA.htm) logs

        - `/gpgsa` *(novatel_gps_msgs/Gpgsa)*: [GPGSA](http://docs.novatel.com/OEM7/Content/Logs/GPGSA.htm) logs

        - `/gpgsv` *(novatel_gps_msgs/Gpgsv)*: [GPGSV](http://docs.novatel.com/OEM7/Content/Logs/GPGSV.htm) logs

        - `/gprmc` *(novatel_gps_msgs/Gprmc)*: [GPRMC](http://docs.novatel.com/OEM7/Content/Logs/GPRMC.htm) logs

        - `/gps` *([gps_msgs/GPSFix](http://docs.ros.org/kinetic/api/gps_common/html/msg/GPSFix.html))*: Fixes produced by combining BESTVEL, PSRDOP2 and BESTPOS messages together

            - **Note**:  GPSFix messages will always be published regardless of what other types are enabled.        

        - `/heading2` *(novatel_gps_msgs/NovatelHeadin2)*: [HEADING2](http://docs.novatel.com/OEM7/Content/Logs/HEADING2.htm) logs

        - `/imu` *([sensor_msgs/Imu](http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html))*: CORRIMUDATA logs converted to Imu messages

        - `/inspva` *(novatel_gps_msgs/Inspva)*: [INSPVA](http://docs.novatel.com/OEM7/Content/SPAN_Logs/INSPVA.htm) logs

        - `/inspvax` *(novatel_gps_msgs/Inspvax)*: [INSPVAX](http://docs.novatel.com/OEM7/Content/SPAN_Logs/INSPVAX.htm) logs

        - `/insstdev` *(novatel_gps_msgs/Insstdev)*: [INSSTDEV](http://docs.novatel.com/OEM7/Content/SPAN_Logs/INSSTDEV.htm) logs

        - `/psrdop2` *(novatel_gps_msgs/Psrdop2)*: [PSRDOP2](https://docs.novatel.com/OEM7/Content/Logs/PSRDOP2.htm) logs

        - `/range` *(novatel_gps_msgs/Range)*: [RANGE](http://docs.novatel.com/OEM7/Content/Logs/RANGE.htm) logs

        - `/rosout` *(rosgraph_msgs/Log)*: Console output

        - `/time` *(novatel_gps_msgs/Time)*: [TIME](http://docs.novatel.com/OEM7/Content/Logs/TIME.htm) logs

        - `/trackstat` *(novatel_gps_msgs/Trackstat)*: [TRACKSTAT](http://docs.novatel.com/OEM7/Content/Logs/TRACKSTAT.htm) logs



Adding New Logs

---------------



Do you need support for a new log type?  Follow these steps:



1. Find the log reference in the [official documentation](http://docs.novatel.com/OEM7/Content/Logs/Log_Reference.htm).

2. Add a new .msg file to the `novatel_gps_msgs` package.

3. Add a new class in the `novatel_gps_driver` package that extends the `novatel_gps_driver::MessageParser` class that

can parse the log and return the appropriate ROS message.

    1. Note that most MessageParsers produce `UniquePtr`s to messages because this is more efficient for intraprocess

    communications.  Some MessageParsers have to produce `SharedPtr`s because multiple references to their messages are

    kept for synchronization or other purposes.  Choose the appropriate pointer type based on your needs and look at

    other messages as examples.

4. Modify the `novatel_gps_driver::NovatelGps` class:

    1. Add an instance of your parser, a buffer for storing parsed messages, and a method for retrieving them.

    2. Modify the `NovatelGps::ParseBinaryMessage`, `NovatelGps::ParseNovatelSentence`, 

    or `NovatelGps::ParseNmeaSentence` methods to use your parser to parse the new message type

    and store it in the appropriate buffer.

5. Modify the `novatel_gps_driver::NovatelGpsNodelet` class:

    1. Add a configuration parameter to enable the new message type.

    2. Add a publisher for publishing it.

    3. Modify `NovatelGpsNodelet::CheckDeviceForData` to retrieve messages from

    the appropriate buffer and publish them.

6. Add a new unit test to `novatel_gps_driver/tests/parser_tests.cpp` to test your parser.