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: 20 days 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 (about 5 years ago)
• Default Branch: master
• Last Pushed: 2024-07-25T04:23:59.000Z (4 months ago)
• Last Synced: 2024-08-01T03:24:50.404Z (4 months ago)
• Topics: gnss, ros, ros2, rtklib
• Language: C++
• Homepage:
• Size: 236 KB
• Stars: 96
• Watchers: 8
• Forks: 23
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

        
# 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/consapp/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