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Prefer rtcm_msgs over mavros_msgs #34

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Prefer rtcm_msgs over mavros_msgs #34

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3fdbe01
Prefer rtcm_msgs over mavros_msgs
LuckierDodge Mar 14, 2023
1c05784
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LuckierDodge Apr 27, 2023
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -46,7 +46,7 @@ Optional launch parameters:

This node currently only has two topics of interest:

* **/rtcm**: This node will publish the RTCM corrections received from the server to this topic as [RTCM messages](http://docs.ros.org/en/noetic/api/mavros_msgs/html/msg/RTCM.html). These messages can be consumed by nodes such as the [microstrain_inertial_driver](https://github.com/LORD-MicroStrain/microstrain_inertial)
* **/rtcm**: This node will publish the RTCM corrections received from the server to this topic as [RTCM messages](https://github.com/tilk/rtcm_msgs/tree/master). These messages can be consumed by nodes such as the [microstrain_inertial_driver](https://github.com/LORD-MicroStrain/microstrain_inertial)
* **/nmea**: This node will subscribe on this topic and receive [NMEA sentence messages](http://docs.ros.org/en/api/nmea_msgs/html/msg/Sentence.html) which it will forward to the NTRIP server. This is only needed when using a virtual NTRIP server

## Docker Integration
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142 changes: 68 additions & 74 deletions launch/ntrip_client_launch.py
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Expand Up @@ -5,82 +5,76 @@
from launch.substitutions import EnvironmentVariable
from launch.actions import SetEnvironmentVariable

def generate_launch_description():
return LaunchDescription([
# Declare arguments with default values
DeclareLaunchArgument('host', default_value='20.185.11.35'),
DeclareLaunchArgument('port', default_value='2101'),
DeclareLaunchArgument('mountpoint', default_value='VTRI_RTCM3'),
DeclareLaunchArgument('ntrip_version', default_value='None'),
DeclareLaunchArgument('authenticate', default_value='True'),
DeclareLaunchArgument('username', default_value='user'),
DeclareLaunchArgument('password', default_value='pass'),
DeclareLaunchArgument('ssl', default_value='False'),
DeclareLaunchArgument('cert', default_value='None'),
DeclareLaunchArgument('key', default_value='None'),
DeclareLaunchArgument('ca_cert', default_value='None'),
DeclareLaunchArgument('debug', default_value='false'),
DeclareLaunchArgument('rtcm_message_package', default_value='mavros_msgs'),

# Pass an environment variable to the node
SetEnvironmentVariable(name='NTRIP_CLIENT_DEBUG', value=LaunchConfiguration('debug')),

# ******************************************************************
# NTRIP Client Node
# ******************************************************************
Node(
name='ntrip_client_node',
namespace='ntrip_client',
package='ntrip_client',
executable='ntrip_ros.py',
def generate_launch_description():
return LaunchDescription(
[
# Declare arguments with default values
DeclareLaunchArgument("host", default_value="20.185.11.35"),
DeclareLaunchArgument("port", default_value="2101"),
DeclareLaunchArgument("mountpoint", default_value="VTRI_RTCM3"),
DeclareLaunchArgument("ntrip_version", default_value="None"),
DeclareLaunchArgument("authenticate", default_value="True"),
DeclareLaunchArgument("username", default_value="user"),
DeclareLaunchArgument("password", default_value="pass"),
DeclareLaunchArgument("ssl", default_value="False"),
DeclareLaunchArgument("cert", default_value="None"),
DeclareLaunchArgument("key", default_value="None"),
DeclareLaunchArgument("ca_cert", default_value="None"),
DeclareLaunchArgument("debug", default_value="false"),
DeclareLaunchArgument("rtcm_message_package", default_value="mavros_msgs"),
# Pass an environment variable to the node
SetEnvironmentVariable(
name="NTRIP_CLIENT_DEBUG", value=LaunchConfiguration("debug")
),
# ******************************************************************
# NTRIP Client Node
# ******************************************************************
Node(
name="ntrip_client_node",
namespace="ntrip_client",
package="ntrip_client",
executable="ntrip_ros.py",
parameters=[
{
# Required parameters used to connect to the NTRIP server
'host': LaunchConfiguration('host'),
'port': LaunchConfiguration('port'),
'mountpoint': LaunchConfiguration('mountpoint'),

# Optional parameter that will set the NTRIP version in the initial HTTP request to the NTRIP caster.
'ntrip_version': LaunchConfiguration('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
'authenticate': LaunchConfiguration('authenticate'),

# If authenticate is set the true, we will use these to authenticate with the server
'username': LaunchConfiguration('username'),
'password': LaunchConfiguration('password'),

# Whether to connect with SSL. cert, key, and ca_cert options will only take effect if this is true
'ssl': LaunchConfiguration('ssl'),

# If the NTRIP caster uses cert based authentication, you can specify the cert and keys to use with these options
'cert': LaunchConfiguration('cert'),
'key': LaunchConfiguration('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
'ca_cert': LaunchConfiguration('ca_cert'),

# Not sure if this will be looked at by other ndoes, but this frame ID will be added to the RTCM messages published by this node
'rtcm_frame_id': 'odom',

# Optional parameters that will allow for longer or shorter NMEA messages. Standard max length for NMEA is 82
'nmea_max_length': 82,
'nmea_min_length': 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"
'rtcm_message_package': LaunchConfiguration('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
'reconnect_attempt_max': 10,
'reconnect_attempt_wait_seconds': 5,

# How many seconds is acceptable in between receiving RTCM. If RTCM is not received for this duration, the node will attempt to reconnect
'rtcm_timeout_seconds': 4
}
{
# Required parameters used to connect to the NTRIP server
"host": LaunchConfiguration("host"),
"port": LaunchConfiguration("port"),
"mountpoint": LaunchConfiguration("mountpoint"),
# Optional parameter that will set the NTRIP version in the initial HTTP request to the NTRIP caster.
"ntrip_version": LaunchConfiguration("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
"authenticate": LaunchConfiguration("authenticate"),
# If authenticate is set the true, we will use these to authenticate with the server
"username": LaunchConfiguration("username"),
"password": LaunchConfiguration("password"),
# Whether to connect with SSL. cert, key, and ca_cert options will only take effect if this is true
"ssl": LaunchConfiguration("ssl"),
# If the NTRIP caster uses cert based authentication, you can specify the cert and keys to use with these options
"cert": LaunchConfiguration("cert"),
"key": LaunchConfiguration("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
"ca_cert": LaunchConfiguration("ca_cert"),
# Not sure if this will be looked at by other ndoes, but this frame ID will be added to the RTCM messages published by this node
"rtcm_frame_id": "odom",
# Optional parameters that will allow for longer or shorter NMEA messages. Standard max length for NMEA is 82
"nmea_max_length": 82,
"nmea_min_length": 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"
"rtcm_message_package": LaunchConfiguration(
"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
"reconnect_attempt_max": 10,
"reconnect_attempt_wait_seconds": 5,
# How many seconds is acceptable in between receiving RTCM. If RTCM is not received for this duration, the node will attempt to reconnect
"rtcm_timeout_seconds": 4,
}
],
# Uncomment the following section and replace "/gq7/nmea/sentence" with the topic you are sending NMEA on if it is not the one we requested
#remappings=[
# remappings=[
# ("/ntrip_client/nmea", "/gx5/nmea/sentence")
#],
)
])
# ],
),
]
)
2 changes: 1 addition & 1 deletion package.xml
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Expand Up @@ -11,7 +11,7 @@

<depend>rclpy</depend>
<depend>std_msgs</depend>
<depend>mavros_msgs</depend>
<depend>rtcm_msgs</depend>
<depend>nmea_msgs</depend>

<!-- The export tag contains other, unspecified, tags -->
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