https://github.com/mapiv/gnss_compass_ros
ROS1 Package to calculate position and orientation using two gnss receivers.
https://github.com/mapiv/gnss_compass_ros
Last synced: 6 months ago
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ROS1 Package to calculate position and orientation using two gnss receivers.
- Host: GitHub
- URL: https://github.com/mapiv/gnss_compass_ros
- Owner: MapIV
- License: bsd-3-clause
- Created: 2022-06-04T01:28:33.000Z (almost 4 years ago)
- Default Branch: main
- Last Pushed: 2024-08-19T07:15:10.000Z (over 1 year ago)
- Last Synced: 2024-08-19T08:35:52.372Z (over 1 year ago)
- Language: C++
- Homepage:
- Size: 67.4 KB
- Stars: 25
- Watchers: 3
- Forks: 6
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# gnss_compass_ros
ROS1 Package to calculate position and orientation using two gnss receivers .
Note.)
RTK positioning is required for each GNSS receiver.
In the standard configuration, pose is only published when two antennas are in RTK-FIX.
```
roslaunch gnss_compass gnss_compass.launch
```
## build
```
cd ~/catkin_ws/src
git clone --recursive https://github.com/MapIV/gnss_compass_ros.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
catkin_make -DCMAKE_BUILD_TYPE=Release
```
## pubsub
- input
/main/mosaic/gga (nmea_msgs/Gpgga)
/sub/mosaic/gga (nmea_msgs/Gpgga)
/tf_static(from "base_link" to main gnss's frame)
- output
/gnss_compass_pose (geometry_msgs/PoseStamped)
/gnss_compass_odom (nav_msgs/Odometry)
/illigal_gnss_compass_odom (nav_msgs/Odometry)
/diagnostics ([diagnostic_msgs/DiagnosticArray)
/tf(from "map" to "base_link")
## Notes on use
Be sure to set gnss_frequency, yaw_bias, and baseline_length in gnss_compass.yaml when using it.