rtk_ros
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AlexisTM
Read UBX M8P-2 and publish RTCM messages for mavros from ROS
ROS RTK node for UBX M8P GPS base station
Due to the lack of hardware available to me, this project goes unmaintained.
This node is made to work with Mavros's RTK plugin: https://github.com/mavlink/mavros/blob/ros2/mavros_extras/src/plugins/gps_rtk.cpp
Installation
mkdir -p $HOME/Workspace/src
cd $HOME/Workspace/src
git clone --recursive http://github.com/AlexisTM/rtk_ros
cd $HOME/Workspace/
catkin build
Running
rosrun rtk_ros rtk_ros_node _port:=/dev/ttyACM0
Parameters
port = "/dev/ttyACM0"
baud = 115200
survey/accuracy = 4.0 # meters
survey/duration = 90.0 # seconds
Output
~/rtcm_out as mavros_msgs::RTCM # RTCM3 data
~/gps as sensor_msgs::NavSatFix # GPS data
To work with mavros, redirect ~/rtcm_out to ~/send_rtcm. Once the survey is done, mavros will publish ~/rtk_baseline.
AlexisTM