https://github.com/ethz-asl/rtklibros
rtklib with ros interfacing and adapted feedback from external Kalman filter
https://github.com/ethz-asl/rtklibros
Last synced: 3 months ago
JSON representation
rtklib with ros interfacing and adapted feedback from external Kalman filter
- Host: GitHub
- URL: https://github.com/ethz-asl/rtklibros
- Owner: ethz-asl
- Created: 2012-04-17T11:58:50.000Z (about 13 years ago)
- Default Branch: master
- Last Pushed: 2016-01-26T10:29:24.000Z (over 9 years ago)
- Last Synced: 2025-03-25T08:23:36.241Z (3 months ago)
- Language: C
- Homepage:
- Size: 8.16 MB
- Stars: 46
- Watchers: 14
- Forks: 35
- Open Issues: 3
-
Metadata Files:
- Readme: README_ASL
Awesome Lists containing this project
README
ROS Wrapper for RTKLIB GPS processing library.
Wrapper authors: Daniel Grieneisen ([email protected])
Simon Lynen ([email protected])
Version 0.1
Date: June 01, 2012
RTKLIB:
-Website: http://www.rtklib.com/
-Authors: T. Takasu and A. Yasuda
-version: 2.4.1
================== INTRODUCTION ================================
RTKLIB is an open source software library for GPS processing. The library
comes with command line and GUI programs for a variety of real-time and post-
processing GPS tasks. For more information, as well as the original library,
please see http://www.rtklib.com. This is a ROS wrapper for the library, designed
so that the RTK server can be started via launch files and solver parameters can
be set using the ROS parameter server.
For an overview of RTKLIB, visit http://www.rtklib.com or read the paper
Takasu_RTKLIB.pdf in the documentation folder.
For a brief background on differential GPS, as well as test results geared
towards using RTKLIB with an MAV, please see the paper Grieneisen_SA_Final.pdf in
the documentation folder.
================== GPS MEASUREMENT NODE ========================
This node is used to stream GPS measurement data from a receiver to the
RTKLIB server.
To start the "rover" gps measurements, launch gps_meas.launch.
This will start a service reading from COM and publishing data to TCP port 8600.
===> adapt parameters such as serial port config in the launchfile
================ RTKLIB SERVER NODE ============================
This node starts an RTKLIB server for processing gps data and publishing
solution results.
To start the RTKLIB server, use one of the following launch files:
-rtkrcv_conf.launch
-rtkrcv_param.launch
These two launch files demonstrate two different methods for setting the
RTKLIB solver parameters.
----------------- rtkrcv_conf.launch ----------------------
This launch file loads parameters via an RTKLIB .conf file. If you analyze data
via the RTKLIB GUI tools, solution parameters can be saved in a .conf file. Using
this launch file, you can load parameters this way.
===> you probably want to adjust the settings in ./conf/rtk_server.conf
IMPORTANT VALUE CHANGES: (flagged with @ADAPT in the config file)
line 68: ant2-pos1 (deg|m) = LAT STATION2 POSITION
line 69: ant2-pos2 (deg|m) = LON STATION2 POSITION
line 70: ant2-pos3 (m|m) = HEIGHT STATION2 POSITION
line 89: inpstr1-type = ROVER MEAS SOURCE
line 90: inpstr2-type = BASE MEAS SOURCE
line 97: inpstr1-path = ROVER MEAS SOURCE PARAM
line 98: inpstr2-path = BASE MEAS SOURCE PARAM
----------------- rtkrcv_param.launch -----------------------
This launch file loads parameters via a .yaml file. Example yaml file for the
following use cases are provided in the params directory.
-BaseStatic.yaml: Runs static solution algorithm for a stationary receiver.
Designed to determine a local base station position as quickly as possible
for use with a rover. Position convergence time at least 20-40 minutes.
-RoverSingle.yaml: Runs SBAS algorithm for a rover receiver. Note that receiver
must be configured to receive SBAS data for this to work. Otherwise,
a single solution is calculated.
-RoverBase.yaml: Runs RTK algorithm for a rover receiver sending data over TCP
and a local base station connected via serial.
The yaml files are organized so that parameters that most likely need to be
adapted to get up and running are at the top, and those that likely do not
need to be changed are at the bottom. These can be modified to improve solution
quality. However, the default values seem to produce acceptable results.
Scroll down to see a summary of parameters that should be adapted.
----------------- ROS Services ------------------------------
The following two rosservice callbacks are available:
-rtklib_fetch_params: Fetches new parameters from the parameter server. Note
that the RTKLIB server does not start solving with these parameters until
it is reset.
-rtklib_reset: Resets the RTKLIB server, incorporating newly loaded parameters
----------------- ROS Topics --------------------------------
The following ROS message topics are published:
-/baseline - position (ENU) relative to base station (PoseWithCovarianceStamped)
-/latlon - solution latitude, longitude, altitude (PoseWithCovarianceStamped)
----------------- Parameter summary -------------------------
Here are the parameters that should be adapted for different uses. Note that
parameter names are "foo_bar" if set in a .yaml files, but "foo-bar" if set in
a .conf file.
## Solver parameters
pos1_posmode: static # (0:single,1:dgps,2:kinematic,3:static,4:movingbase,5:fixed,6:ppp_kine,7:ppp_static)
-- Set the solution mode. Solution modes are as follows:
-single: No base station needed.
-dgps: Code-based differential GPS. Needs a base station.
-kinematic: RTK differential GPS. Needs a base station.
-static: static differential GPS. Assumes rover is not moving. Needs
a base station.
-movingbase: RTK GPS. Does not assume base station is stationary.
-fixed: Outputs best estimate of fixed location. No base station needed.
-ppp_kine: Precise Point Positioning algorithm for a moving receiver.
Needs high quality ephemeris and clock data.
-ppp_static: Precise Point Positioning algorithm for a stationary receiver.
Needs high quality ephemeris and clock data.
pos1_frequency: l1 # (1:l1,2:l1+l2,3:l1+l2+l5,4:l1+l2+l5+l6,5:l1+l2+l5+l6+l7)
-- Set the frequency bands of the receivers. L1 is used for most cheap
receivers, L1+L2 for dual frequency, etc.
pos1_soltype: forward # (0:forward,1:backward,2:combined)
-- Set the solution direction in time. Must be set to forward for real-time.
combined runs the solver forwards and then backwards for smoothing a
solution in post-processing.
pos1_elmask: 15 # (deg)
-- Set the minimum elevation for a satellite to use in the solution.
pos1_snrmask: 0 # (dBHz)
-- Set the minimum SNR for a satellite to use in the solution.
pos1_dynamics: !!str off # (0:off,1:on)
-- Set to include a simple model of receiver dynamics in the solution filter.
** NOTE: must use "!!str off" and "!!str on" instead of "off" or "on".
Without '!!str', this will get interpreted by ROS as a boolean
instead of a string, which is what it should be.
pos2_armode: continuous # (0:off,1:continuous,2:instantaneous,3:fix_and_hold)
-- Set how integer ambiguities should be resolved. When using 'static' or
'kinematic' mode, solution is calculated using carrier wave phase
measurement. Distance to a satellite is the phase measurement plus an
integer number of wavelengths. The solution is initially calculated with
a floating point number of wavelengths. Resolving this float to an int
for each of the satellites is called ambiguity resolution. When resolved,
solutions can be much more precise. However, AR can be lost if the
receiver moves to quickly or loses view of a satellite. Whenever
ambiguities are resolved or lost, the solution position tends to jump.
Using AR allows higher precision solutions when ambiguities can be
resolved, but turning it off avoids these position jumps.
## Input streams
# Rover input
inpstr1_type: serial # ROVER (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
-- Set the input stream type for the rover receiver.
inpstr1_path: 'ttyACM0:57600:8:n:1:off' #
-- Set the stream path for the rover receiver. Path formats are as follows:
(specified in src/stream.c) [] are optional parameters
-serial: port[:brate[:bsize[:parity[:stopb[:fctr]]]]]
port = COM?? (windows), tty??? (linuex, omit /dev/)
brate = bit rate (bps)
bsize = bit size (7|8)
parity= parity (n|o|e)
stopb = stop bits (1|2)
fctr = flow control (off|rts)
-file: file_path[::T][::+start][::xseppd][::S=swap]
::T = enable time tag
start = replay start offset (s)
speed = replay speed factor
swap = output swap interval (hr) (0: no swap)
-tcpsvr: :port
-tcpcli: address:port
-ntripcli: [user[:passwd]]@address[:port][/mountpoint]
-ftp: [user[:passwd]]@address/file_path[::T=poff[,tint[,toff,tret]]]]
-http: address/file_path[::T=poff[,tint[,toff,tret]]]]
poff = time offset for path extension (s)
tint = download interval (s)
toff = download time offset (s)
tret = download retry interval (s) (0:no retry)
inpstr1_format: ubx # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,15:sp3)
-- Set the rover stream format. Supports a variety of different manufacturers'
formats (e.g. ubx = uBlox).
# Base station input
inpstr2_type: ntripcli # BASE (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
-- Set the base station input stream type.
inpstr2_path: 'user:[email protected]:2101/ZIM20' #
-- Set the base station stream path (see above for options).
inpstr2_format: rtcm2 #(0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,15:sp3)
-- Set the base station stream format.
# Base station location
-- Set basestation location
ant2_postype: rtcm # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
-- Set the base station location type.
-llh: latitude, longitude, height
-xyz: xyz in ECEF
-single: calculate position via single solution
-posfile: get position from a .pos file
-rinexhead: get position from the head of a rinex file. This is used in
post-processing, as most NTRIP stations allow datalogs to be downloaded
using the RINEX file format, which includes the position in the header.
-rtcm: get the position from an RTCM stream. If the base station stream
is using the RTCM format, then it may include the position as part of
the data that is sent (e.g. NTRIP casters include this in their data
streams). Uses this published position.
ant2_pos1: 0 # (deg|m) # BASE POSITION
-- Set latitude (llh) or x (xyz) position of base station.
ant2_pos2: 0 # (deg|m) # BASE POSITION
-- Set longitude (llh) or y (xyz) position of base station.
ant2_pos3: 0 # (m|m) # BASE POSITION
-- Set height (llh) or z (xyz) position of base station.
## Output streams (separate from ROS messages)
outstr1_type: tcpsvr # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
-- Set first output stream type
outstr1_path: ':@:8601/:' # SOLUTION IS OUTPUT HERE AND via ros @ topic "/baseline"
-- Set first output stream path
outstr1_format: enu # (0:llh,1:xyz,2:enu,3:nmea)
-- Set first output stream format
## Logging output streams
logstr1_type: file # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
-- Set type of logging stream for rover data.
logstr1_path: '$(find rtklib)/logs/%Y%m%d_%h%M_rover_rtk_server'
-- Set path for rover data logging.
logstr2_type: file # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
-- Set type of logging stream for base station data.
logstr2_path: '$(find rtklib)/logs/%Y%m%d_%h%M_base_rtk_server'
-- Set path for base station data logging.