https://github.com/alexistm/rtk_ros
Read UBX M8P-2 and publish RTCM messages for mavros from ROS
https://github.com/alexistm/rtk_ros
gps px4 px4-autopilot ros rtcm3 rtk ubx
Last synced: 8 months ago
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Read UBX M8P-2 and publish RTCM messages for mavros from ROS
- Host: GitHub
- URL: https://github.com/alexistm/rtk_ros
- Owner: AlexisTM
- License: mit
- Created: 2018-07-27T06:51:39.000Z (almost 8 years ago)
- Default Branch: master
- Last Pushed: 2023-01-18T08:34:17.000Z (over 3 years ago)
- Last Synced: 2025-05-06T02:39:32.274Z (about 1 year ago)
- Topics: gps, px4, px4-autopilot, ros, rtcm3, rtk, ubx
- Language: C++
- Homepage:
- Size: 17.6 KB
- Stars: 19
- Watchers: 3
- Forks: 9
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
ROS RTK node for UBX M8P GPS base station
=========================================
> Due to the lack of hardware available to me, this project goes unmaintained.
This node is made to work with Mavros's RTK plugin: https://github.com/mavlink/mavros/blob/ros2/mavros_extras/src/plugins/gps_rtk.cpp
Installation
------------
```bash
mkdir -p $HOME/Workspace/src
cd $HOME/Workspace/src
git clone --recursive http://github.com/AlexisTM/rtk_ros
cd $HOME/Workspace/
catkin build
```
Running
-------
```bash
rosrun rtk_ros rtk_ros_node _port:=/dev/ttyACM0
```
### Parameters
```
port = "/dev/ttyACM0"
baud = 115200
survey/accuracy = 4.0 # meters
survey/duration = 90.0 # seconds
```
### Output
```
~/rtcm_out as mavros_msgs::RTCM # RTCM3 data
~/gps as sensor_msgs::NavSatFix # GPS data
```
To work with mavros, redirect ~/rtcm_out to ~/send_rtcm.
Once the survey is done, mavros will publish ~/rtk_baseline.