ntrip_client.launch

<?xml version="1.1"?>
<launch>

  <!-- Standalone example launch file for an ntrip client -->

  <!-- Declare arguments with default values -->
  <arg name="host"                   default = "20.185.11.35" />
  <arg name="port"                   default = "2101" />
  <arg name="mountpoint"             default = "VTRI_RTCM3" />
  <arg name="authenticate"           default = "true" />
  <arg name="username"               default = "user" />
  <arg name="password"               default = "pass" />
  <arg name="ntrip_version"          default = "" />
  <arg name="ssl"                    default = "false" />
  <arg name="cert"                   default = "" />
  <arg name="key"                    default = "" />
  <arg name="ca_cert"                default = "" />
  <arg name="debug"                  default = "false" />
  <arg name="rtcm_message_package"   default = "mavros_msgs" />

  <!-- Set the log level to debug -->
  <env name="NTRIP_CLIENT_DEBUG" value="$(arg debug)" />

  <!-- ****************************************************************** -->
  <!-- NTRIP Client Node -->
  <!-- ****************************************************************** -->
  <node name="ntrip_client_node" pkg="ntrip_client" type="ntrip_ros.py" output="screen" ns="ntrip_client">

    <!-- Required parameters used to connect to the NTRIP server -->
    <param name="host"       value="$(arg host)" />
    <param name="port"       value="$(arg port)" />
    <param name="mountpoint" value="$(arg mountpoint)" />

    <!-- Optional parameter that will set the NTRIP version in the initial HTTP request to the NTRIP caster. -->
    <param name="ntrip_version" value="$(arg ntrip_version)" />

    <!-- If this is set to true, we will read the username and password and attempt to authenticate. If not, we will attempt to connect unauthenticated -->
    <param name="authenticate" value="$(arg authenticate)" />

    <!-- If authenticate is set to true, we will use these to authenticate with the server -->
    <param name="username" value="$(arg username)" />
    <param name="password" value="$(arg password)" />

    <!-- Whether to connect with SSL. cert, key, and ca_cert options will only take effect if this is true -->
    <param name="ssl" value="$(arg ssl)" />

    <!-- If the NTRIP caster uses cert based authentication, you can specify the cert and keys to use with these options -->
    <param name="cert" value="$(arg cert)" />
    <param name="key"  value="$(arg key)" />

    <!-- If the NTRIP caster uses self signed certs, or you need to use a different CA chain, specify the path to the file here -->
    <param name="ca_cert" value="$(arg ca_cert)" />

    <!-- Not sure if this will be looked at, but this frame ID will be added to the RTCM messages published by this node -->
    <param name="rtcm_frame_id" value="odom" />

    <!-- Optional parameters that will allow for longer or shorter NMEA messages. Standard max length for NMEA is 82 -->
    <param name="nmea_max_length" value="82" />
    <param name="nmea_min_length" value="3" />

    <!-- Use this parameter to change the type of RTCM message published by the node. Defaults to "mavros_msgs", but we also support "rtcm_msgs" -->
    <param name="rtcm_message_package" value="$(arg rtcm_message_package)" />

    <!-- Will affect how many times the node will attempt to reconnect before exiting, and how long it will wait in between attempts when a reconnect occurs -->
    <param name="reconnect_attempt_max" value="10" />
    <param name="reconnect_attempt_wait_seconds" value="5" />

    <!-- How many seconds is acceptable in between receiving RTCM. If RTCM is not received for this duration, the node will attempt to reconnect -->
    <param name="rtcm_timeout_seconds" value="4" />

    <!-- Uncomment the following section and replace "/gx5/nmea/sentence" with the topic you are sending NMEA on if it is not the one we requested -->
    <!--<remap from="/ntrip_client/nmea" to="/gx5/nmea/sentence" />-->
  </node>
</launch>