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rtklib_ros_bridge

Overview

rtklib_ros_bridge is a package that outputs the latitude and longitude, satellite reception status, altitude, ecef xyz, ecef velocity vector, and Time of Week (GPS Time) calculated by RTKLIB as ROS messages.

Install

  1. First, download the modified RTKLIB to your home directory.

     cd $HOME
 git clone https://github.com/MapIV/RTKLIB.git
 cd $HOME/RTKLIB
 git checkout rtklib_ros_bridge_b34

    About RTKLIB

  2. Build RTKLIB.

     cd $HOME/RTKLIB/lib/iers/gcc/
 make
 cd $HOME/RTKLIB/app
 make

  3. Change the permissions of the two files.

     cd $HOME/RTKLIB/app/consapp/rtkrcv/gcc
 chmod 755 rtkstart.sh
 chmod 755 rtkshut.sh

  4. Next, download and build rtklib_ros_bridge.

     cd $HOME/catkin_ws/src
 git clone https://github.com/MapIV/rtklib_ros_bridge.git
 cd ..
 catkin_make -DCMAKE_BUILD_TYPE=Release

Configuration

  1. Open RTKLIB settings.

     gedit $HOME/RTKLIB/app/rtkrcv/conf/rtklib_ros_bridge_sample.conf

  2. Set the serial device on line 10. If you connect using USB, it is OK.

Line 10: inpstr1-path =/serial/by-id/usb-u-blox_AG_-_www.u-blox.com_u-blox_GNSS_receiver-if00:9600:8:n:1:off

※If you know the device number "/dev/ttyACM-" but OK.

  1. Next, configure the receiver from ublox application, u-center.The usage of u-center is not described here. Below is an overview of the settings. (Here is how to use a Ublox receiver)

  • Enable UBX message ※Set to output only RAWX and SFRBX

  • Save your settings last.

    About u-center

Usage

  1. Connect the GNSS receiver and start RTKLIB.

     cd $HOME/RTKLIB
 bash rtklib_ros_bridge_sample.sh

  2. Check the status of RTKLIB. If GPS Time is moving, it is OK. Execute the following command in the terminal of item 3.

     status 0.1

※If GPS Time is not working, there may be a mistake in the receiver settings or RTKLIB settings.

  1. Start rtklib_ros_bridge.

     rosrun rtklib_bridge rtklib_bridge