ROS Trimble BD960 Driver

Description

This is a simple driver that converts the NMEA strings provided by the Trimble BD960 board to be compatible with standard ros messages. Currently, it provides lattitude, longitude, altitude, and heading (along with a diagonal positional covariance matrix).

Supported Sentences

Currently supported NMEA sentence types are:

• GGA
• GST
• HDT

Support for more sentences may be added in the future

Dependencies

• ROS
• PySerial (Python Serial)

Usage

1. Setup your GPS receiver to run on a serial port using one of the Trimble configuration utilities. (Ensure that the sentences you enable are supported.)
2. Use the config file (config/gps.yaml) to choose your port, baudrate, and timeout. Your timeout should correspond roughly to the configured frequency.
3. Launch the node using roslaunch ros_trimble_bd960 gps.launch and the driver will begin to output messages on the topics.

Topics

• /gps/fix [NavSatFix] : Status, position, and covariance data
• /gps/heading [Float64] : Heading in degrees from True North

License

Copyright (c) 2019 Jeremy Mallette under MIT License