A ROS2 node for NMEA GPS

This node is implementing basic telegrams for NMEA GPS communicating via serial lines (NMEA-0183). It publishes a message providing more information than the standard gps message (speed etc.). It also provides a service to read the observed satellites including signal strengthes. It is currently developed and tested with ROS2 Foxy Fitzroy and Humble Hawksbill on Linux. Used devices were several Garmin and a u-blox based device.

Build the node with:

colcon build

Run the node with:

ros2 run gpsx gps_node

Additional parameters can be added for connection speed and connection port e.g.

ros2 run gpsx gps_node --ros-args -p "comm_port:=/dev/ttyUSB1" -p "comm_speed:=9600"