ROS Wrapper for Femtomes Nano-D Receiver

There are packages for using Femtomes Receiver (Nano-D) with ROS.

This version supports Noetic distribution.

For running in Melodic environment please switch to the melodic.

Update!

You can use nmea_navsat_driver for the standard nmea message.

Requirements

• Hardware

  • Nano-D

• Software

  • ROS Noetic on Ubuntu 20.04

  • Python3.x

Install from Sources

1. Create a catkin workspace

ubuntu

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src

1. Clone the Femtomes ROS Driver from here into 'catkin_ws/src/' and make

git clone https://github.com/DapengFeng/femtomes_ros_driver.git
cd ..
catkin_make

Usage Instructions

Start the femtomes node in ROS:

roslaunch femtomes_ros_driver femtomes_rtk.launch

This will stream femtomes receiver and publish on the appropriate ROS topic.

Published Topics

• /femtomes/bestxyz (femtomes_msgs/BESTXYZ)

• /femtomes/heading (femtomes_msgs/HEADING)

• /femtomes/odom (nav_msgs/Odometry)