https://github.com/maximilian-nitsch/gnss-simulator
Simple C++ Simulator and ROS 2 Node for GNSS.
https://github.com/maximilian-nitsch/gnss-simulator
autonomous-driving autonomous-robots autonomous-underwater-vehicle autonomous-vehicles auv auv-simulator gnss gps navigation robotics robotics-simulation rov satellite-navigation sensor simulation simulator
Last synced: 27 days ago
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Simple C++ Simulator and ROS 2 Node for GNSS.
- Host: GitHub
- URL: https://github.com/maximilian-nitsch/gnss-simulator
- Owner: maximilian-nitsch
- License: bsd-3-clause
- Created: 2025-04-04T07:47:07.000Z (6 months ago)
- Default Branch: main
- Last Pushed: 2025-04-11T08:57:04.000Z (6 months ago)
- Last Synced: 2025-06-19T01:38:07.468Z (4 months ago)
- Topics: autonomous-driving, autonomous-robots, autonomous-underwater-vehicle, autonomous-vehicles, auv, auv-simulator, gnss, gps, navigation, robotics, robotics-simulation, rov, satellite-navigation, sensor, simulation, simulator
- Language: C++
- Homepage:
- Size: 33.2 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING
- License: LICENSE
- Code of conduct: CODE_OF_CONDUCT
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README
# C++/ROS 2 Simple GNSS-Simulator
[](https://github.com/maximilian-nitsch/GNSS-Simulator/commits/main)
[](https://index.ros.org/doc/ros2/Installation/Humble/)
[](https://github.com/maximilian-nitsch/GNSS-Simulator/releases)
[](https://github.com/maximilian-nitsch/GNSS-Simulator/issues)
[](https://github.com/maximilian-nitsch/GNSS-Simulator/graphs/contributors)
**Author:**
- Maximilian Nitsch
**Affiliation:** Institute of Automatic Control - RWTH Aachen University
**Maintainer:**
- Maximilian Nitsch
## Description
This project provides a simple GNSS simulator written in C++.
The simulator implements the following features:
- PVT measurement generation with lever-arm effect and white noise
- Attitude measurement (GNSS compass) with lever-arm effect generation with white noise
- All parameters for a GNSS receiver can be configured in a YAML file
An example config for a Septentrio Mosaic-H GNSS receiver is provided.
## Table of Contents
- [Dependencies](#dependencies)
- [ROS 2 Nodes](#ros-2-nodes)
- [Publishers](#publisher-node)
- [Subscribers](#subscriber-node)
- [Installation](#installation)
- [Usage](#usage)
- [Coding Guidelines](#coding-guidelines)
- [References](#references)
- [Reports](#reports)
- [Contributing](#contributing)
- [License](#license)
# Dependencies
This project depends on the following literature and libraries:
- **Eigen3**: Eigen is a C++ template library for linear algebra: [Eigen website](https://eigen.tuxfamily.org/).
- **ROS 2 Humble**: ROS 2 is a set of software libraries and tools for building robot applications: [ROS 2 Installation page](https://docs.ros.org/en/humble/Installation.html).
- **Navigation Utilities Package**: ROS 2 package with common navigation utilities for TRIPLE-GNC: [Navigation Utilities](https://gitlab.informatik.uni-bremen.de/triple/gnc/utilities/navigation-utilities)
## ROS 2 Node Description
The GNSS simulator node implements three publishers and subscribes to one topic.
ROS 2 services or actions are not provided.
### Publishers
This node publishes the following topics:
| Topic Name | Message Type | Description | Link |
|------------------|---------------------|------------------------------------|----------|
| `gnss_pvt` | `nanoauv_sensor_driver_interfaces/GnssPvt.msg` | Custom GNSS PVT (position, velocity, time) data | [GnssPvt.msg](https://gitlab.informatik.uni-bremen.de/triple/gnc/interfaces/-/blob/b95efc88d33a9e439025056c988c6459589b86e5/nanoauv_sensor_driver_interfaces/msg/GnssPvt.msg) |
| `gnss_attitude` | `nanoauv_sensor_driver_interfaces/GnssAttitude.msg` | Custom GNSS attitude (compass) data | [GnssAttitude.msg](https://gitlab.informatik.uni-bremen.de/triple/gnc/interfaces/-/blob/b95efc88d33a9e439025056c988c6459589b86e5/nanoauv_sensor_driver_interfaces/msg/GnssAttitude.msg) |
| `nav_sat_fix` | `sensor_msgs/NavSatFix.msg` | Navigation Satellite fix for any Global Navigation Satellite System | [NavSatFix.msg](http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/NavSatFix.html) |
### Subscribers
This node subscribes to the following topics:
| Topic Name | Message Type | Description | Link |
|-------------------|---------------------|------------------------------------|----------|
| `odometry`| `nav_msgs/Odometry.msg`| Estimate of a position and velocity in free space | [Odometry.msg](http://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html) |
# Installation
To install the `gnss_simulator_package`, you need to follow these steps:
1. **Install Eigen3**: Eigen3 is a dependency for your package. You can install it using your package manager. For example, on Ubuntu, you can install it using the following command:
```bash
sudo apt-get install libeigen3-dev
```
2. **Install ROS 2 Humble**: Ensure you have ROS 2 (Humble) installed. You can follow the official installation instructions provided by ROS 2. Visit [ROS 2 Humble Installation page](https://docs.ros.org/en/humble/Installation.html) for detailed installation instructions tailored to your platform.
3. **Clone the Package**: Clone the package repository to your ROS 2 workspace. If you don't have a ROS 2 workspace yet, you can create one using the following commands:
```bash
mkdir -p /path/to/ros2_workspace/src
cd /path/to/ros2_workspace/src
```
Now, clone the package repository:
```bash
git clone
```
Replace `` with the URL of your package repository.
4. **Build the Package**: Once the package is cloned, you must build it using colcon, the default build system for ROS 2. Navigate to your ROS 2 workspace and run the following command:
```bash
cd /path/to/ros2_workspace
colcon build
```
This command will build all the packages in your workspace, including the newly added package.
5. **Source the Workspace**: After building the package, you need to source your ROS 2 workspace to make the package available in your ROS 2 environment. Run the following command:
```bash
source /path/to/ros2_workspace/install/setup.bash
```
Replace `/path/to/ros2_workspace` with the actual path to your ROS 2 workspace.
That's it! Your `gnss_simulator_package` should now be installed along with its dependencies and ready to use in your ROS 2 environment.
## Usage
1. **Configure your YAML file** for your GNSS receiver or use the default file.
2. **Start the GNSS simulator** with the launch file:
```bash
ros2 launch gnss_simulator_package gnss_simulator.launch.py
```
The GNSS simulator prints your settings and waits for a ground truth odometry message.
3. **Provide an odometry publisher** from you vehicle simulation.
4. **Check ROS 2 topics** The GNSS measurements should now be published.
**Important Usage Information**:
- The odometry message must be published with at least the GNSS PVT and attitude sample times.
- The messages `/gnss_pvt/diagnostic_array` and `/gnss_attitude/diagnostic_array` will show `WARN` if the odometry rate is lower.
- If no odometry message is published, the messages `/gnss_pvt/diagnostic_array` and `/gnss_attitude/diagnostic_array` will show `STALE`.
- If everything is correct `/gnss_pvt/diagnostic_array` and `/gnss_attitude/diagnostic_array` will show `OK`.
## Coding Guidelines
This project follows these coding guidelines:
- https://google.github.io/styleguide/cppguide.html
- http://docs.ros.org/en/humble/The-ROS2-Project/Contributing/Code-Style-Language-Versions.html
## Contributing
You can see the [CONTRIBUTING](CONTRIBUTING) file for details if you'd like to contribute to the project.
## License
This project is licensed under the BSD-3-Clause License. Please look at the [LICENSE](LICENSE) file for details.