https://github.com/brain-facens/anavs-ros-adapter

ROS package for Anavs GNSS sensor
https://github.com/brain-facens/anavs-ros-adapter

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ROS package for Anavs GNSS sensor

• Host: GitHub
• URL: https://github.com/brain-facens/anavs-ros-adapter
• Owner: brain-facens
• Created: 2022-06-29T12:51:32.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2022-09-23T19:51:08.000Z (about 2 years ago)
• Last Synced: 2023-05-18T23:27:03.362Z (over 1 year ago)
• Topics: gnss, ros
• Language: CMake
• Homepage:
• Size: 183 KB
• Stars: 0
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Anavs-ROS-adapter

## ROS package for the Anavs GNSS sensor

This package provides an adapter between ANavS TCP/IP data streams and ROS and allows to publish the ANavS sensor fusion solution (mode 'padsolution2ros') and ANavS sensor data (mode 'padsensordata2ros') in ROS.

## Installation

Given you have installed [ROS Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu) and set up your [catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace), run the following commands:

```

cd ~/catkin_ws/src/

git clone https://github.com/brain-facens/anavs-ros-adapter.git

cd ../

rosdep install --from-paths src --ignore-src -r -y

catkin_make

source ./devel/setup.bash

```

## Usage

### Anavs output format

To run the sensor and visualization on pre-configured Rviz file, run:

```

roslaunch anavs-ros-adapter anavs_display.launch

```

This will use the default IP address to `192.168.0.100`, to set a diffeerent IP address, use the argument `ip_addr:=value`

### Satellite fix

To get the output on the `sensor_msgs/NavSatFix` format, run:

```

roslaunch anavs-ros-adapter fix.launch

```

This will also publish the NMEA sentences on the `nmea_sentences` topic.