https://github.com/ethz-asl/ethz_piksi_ros
ROS drivers for the Piksi RTK GPS module
https://github.com/ethz-asl/ethz_piksi_ros
gps localization ros rtk
Last synced: 4 months ago
JSON representation
ROS drivers for the Piksi RTK GPS module
- Host: GitHub
- URL: https://github.com/ethz-asl/ethz_piksi_ros
- Owner: ethz-asl
- License: other
- Created: 2017-11-30T10:25:08.000Z (over 7 years ago)
- Default Branch: master
- Last Pushed: 2023-04-18T16:09:59.000Z (about 2 years ago)
- Last Synced: 2024-11-25T00:51:24.121Z (5 months ago)
- Topics: gps, localization, ros, rtk
- Language: C++
- Homepage:
- Size: 5.3 MB
- Stars: 85
- Watchers: 28
- Forks: 90
- Open Issues: 12
-
Metadata Files:
- Readme: README.md
- License: LICENSE
- Codeowners: .github/CODEOWNERS
Awesome Lists containing this project
README
# For ROS1 use [piksi_multi_cpp](https://github.com/ethz-asl/ethz_piksi_ros/tree/master/piksi_multi_cpp) with ROS noetic and Piksi Multi Firmware 2.4.20
Please use the new piksi_multi_cpp driver. The Python driver is not maintained and outdated. If you still want to use the Python driver checkout release [v1.10.0](https://github.com/ethz-asl/ethz_piksi_ros/tree/v1.11.0).
# For ROS2 use the official [swiftnav-ros2](https://github.com/swift-nav/swiftnav-ros2) driver
ethz_piksi_ros (outdated)
======
This repository contains (python) ROS drivers, tools, launch files, and wikis about how to use Piksi Real Time Kinematic (RTK) GPS device in ROS. There are two different driver versions: one for Piksi V2 and one for Piksi Multi.
**Check the [Wiki](https://github.com/ethz-asl/ethz_piksi_ros/wiki) for instructions on how to get started with Piksi RTK GPS receiver.**
**The main advantage of these ROS drivers is supporting a two link communication for GPS corrections: Xbee and Wifi (see [Correction Over WiFi](TODO) for more info).**
Example GPS RTK setup: the Base Station knows its position (after geodetic survey) and can send RTK corrections over Xbee and Wifi to the Rover, which can then compute its accurate position.
Average time for Piksi Multi to get an RTK FIX (obtained with Piksi Multi Firmware 1.2.14 and lib sbp 2.2.15):
Overview
------
- [piksi_multi_rtk_ros](https://github.com/ethz-asl/ethz_piksi_ros/tree/master/piksi_multi_rtk_ros): ROS driver for Piksi RTK receiver device, hardware version [Multi](https://www.swiftnav.com/piksi-multi).
- [piksi_rtk_kml](https://github.com/ethz-asl/ethz_piksi_ros/tree/master/piksi_rtk_kml): ROS node to generate KML files (Keyhole Markup Language) from Piksi messages. These files can be visualized in Google Earth.
- [piksi_rtk_msgs](https://github.com/ethz-asl/ethz_piksi_ros/tree/master/piksi_rtk_msgs): ROS messages used by the driver(s).
- [piksi_v2_rtk_ros](https://github.com/ethz-asl/ethz_piksi_ros/tree/master/piksi_v2_rtk_ros): ROS driver for Piksi RTK receiver device, hardware version [V2](http://docs.swiftnav.com/pdfs/piksi_datasheet_v2.3.1.pdf). **Discontinued**
- [rqt_gps_rtk_plugin](https://github.com/ethz-asl/ethz_piksi_ros/tree/master/rqt_gps_rtk_plugin): Graphical User Interface to check the status of RTK fix. This gui is implemented wit [Qt](https://wiki.qt.io/Install_Qt_5_on_Ubuntu) such that it may be added to your preferred rqt perspective.
- [utils](https://github.com/ethz-asl/ethz_piksi_ros/tree/master/utils): collection of configurations and useful scripts. This folder contains [piksi_rtklib_postp](https://github.com/ethz-asl/ethz_piksi_ros/tree/master/utils/piksi_rtklib_postp) which can be used to obtained post processed RTK positions using only Piksi Multi for data collection (i.e. a base station is not needed). See the corresponding [wiki page](https://github.com/ethz-asl/ethz_piksi_ros/wiki/Data-collection-and-post-processing).
Impatient Users
------
### Piksi Multi
RTK fix obtained in average in 3 minutes.
- [Install Piksi Multi ROS Driver](https://github.com/ethz-asl/ethz_piksi_ros/tree/master/piksi_multi_rtk_ros#installation-and-configuration).
- [Configure Your Piksi Multi](https://github.com/ethz-asl/ethz_piksi_ros/wiki/Installing-and-Configuring-Your-Piksi).
- [Example Launch Files](https://github.com/ethz-asl/ethz_piksi_ros/tree/master/piksi_multi_rtk_ros/launch).
### Piksi V2 (Discontinued)
RTK fix obtained in average in 10 minutes.
- [Install Piksi V2 ROS Driver](https://github.com/ethz-asl/ethz_piksi_ros/tree/master/piksi_v2_rtk_ros#installation-and-configuration).
- [Configure Your Piksi V2](https://github.com/ethz-asl/ethz_piksi_ros/wiki/Installing-and-Configuring-Your-Piksi).
- [Example Launch Files](https://github.com/ethz-asl/ethz_piksi_ros/tree/master/piksi_v2_rtk_ros/launch).
License
-------
The source code is released under a [BSD 3-Clause license](https://github.com/ethz-asl/ethz_piksi_ros/blob/master/LICENSE).
Build Status
-------
[](https://ci.leggedrobotics.com/job/github_ethz-asl/job/ethz_piksi_ros/job/master/)
Credits
-------
Marco Tranzatto, Kai Holtmann, Michael Pantic, Rik Baehnemann - ETHZ ASL & RSL - 28 April 2019
Based on the initial work of Daniel Eckert.
Bugs & Feature Requests
-------
Please report bugs and request features using the [Issue Tracker](https://github.com/ethz-asl/ethz_piksi_ros/issues).
Before reporting a mulfunction in the driver, please have a look at the [Frequently Asked Questions (FAQ)](https://github.com/ethz-asl/ethz_piksi_ros/wiki/FAQ).
**Related projects**
-------
Browser Online Visualization [https://github.com/ziliHarvey/GPS-Browser-Visualizer](https://github.com/ziliHarvey/GPS-Browser-Visualizer)
RVIZ Online Visualization [https://github.com/nobleo/rviz_satellite](https://github.com/nobleo/rviz_satellite)