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ROSaic = ROS + mosaic

Overview

This repository hosts a ROS Melodic and Noetic driver (i.e. for Linux only) - written in C++ - that works with mosaic and AsteRx - two of Septentrio's cutting-edge GNSS/INS receiver families - and beyond. Since Noetic will only be supported until 2025, we plan to make ROSaic compatible with ROS2.

Main Features:

  • Supports Septentrio's single antenna GNSS, dual antenna GNSS and INS receivers
  • Supports serial, TCP/IP and USB connections, the latter being compatible with both serial and TCP/IP protocols
  • Supports several ASCII (including key NMEA ones) messages and SBF (Septentrio Binary Format) blocks
  • Can publish nav_msgs/Odometry message for INS receivers
  • Can blend SBF blocks PVTGeodetic, PosCovGeodetic, ChannelStatus, MeasEpoch, AttEuler, AttCovEuler, VelCovGeodetic and DOP in order to publish gps_common/GPSFix and sensor_msgs/NavSatFix messages
  • Easy configuration of correction services
  • Can play back PCAP capture logs for testing purposes
  • Tested with the mosaic-X5, mosaic-H, AsteRx-m3 Pro+ and the AsteRx-SBi3 Pro receiver
  • Easy to add support for more log types

Please let the maintainers know of your success or failure in using the driver with other devices so we can update this page appropriately.

Dependencies

The master branch for this driver functions on both ROS Melodic (Ubuntu 18.04) and Noetic (Ubuntu 20.04). It is thus necessary to install the ROS version that has been designed for your Linux distro.

Additional ROS packages have to be installed for the GPSFix message.

sudo apt install ros-$ROS_DISTRO-nmea-msgs ros-$ROS_DISTRO-gps-common.

The serial and TCP/IP communication interface of the ROS driver is established by means of the Boost C++ library. In the unlikely event that the below installation instructions fail to install Boost on the fly, please install the Boost libraries via

sudo apt install libboost-all-dev.

Compatiblity with PCAP captures are incorporated through pcap libraries. Install the necessary headers via

sudo apt install libpcap-dev.

Conversions from LLA to UTM are incorporated through GeographicLib. Install the necessary headers via

sudo apt install libgeographic-dev

Usage

Binary Install

The binary release is now available for Melodic and Noetic. To install the binary package on Melodic for instance, simply run sudo apt-get install ros-$ROS_DISTRO-septentrio-gnss-driver.

Build from Source

Alternatively, the package can also be built from source using catkin_tools, where the latter can be installed using the command sudo apt-get install python-catkin-tools for Melodic or sudo apt-get install python3-catkin-tools for Noetic. The typical catkin_tools workflow should suffice:

source /opt/ros/${ROS_DISTRO}/setup.bash                            # In case you do not use the default shell of Ubuntu, you need to source another script, e.g. setup.sh.
mkdir -p ~/septentrio/src                                           # Note: Change accordingly dependending on where you want your package to be installed.
cd ~/septentrio
catkin init                                                         # Initialize with a hidden marker file
catkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo        # CMake build types pass compiler-specific flags to your compiler. This type amounts to a release with debug info, while keeping debugging symbols and doing optimization. I.e. for GCC the flags would be -O2, -g and -DNDEBUG.
cd src
git clone https://github.com/septentrio-gnss/septentrio_gnss_driver
rosdep install . --from-paths -i                                    # Might raise "rosaic: Unsupported OS [mint]" warning, if your OS is Linux Mint, since rosdep does not know Mint (and possible other OSes). In that case, add the "--os=ubuntu:saucy" option to "fool" rosdep into believing it faces some Ubuntu version. The syntax is "--os=OS_NAME:OS_VERSION".
catkin build                                                        # If catkin cannot find empy, tell catkin to use Python 3 by adding "-DPYTHON_EXECUTABLE=/usr/bin/python3".
echo "source ~/septentrio/devel/setup.bash" >> ~/.bashrc            # It is convenient if the ROS environment variable is automatically added to your bash session every time a new shell is launched. Again, this works for bash shells only. Also note that if you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.
source ~/.bashrc 
Notes Before Usage
  • In your bash sessions, navigating to the ROSaic package can be achieved from anywhere with no more effort than roscd septentrio_gnss_driver.
  • The driver assumes that our anonymous access to the Rx grants us full control rights. This should be the case by default, and can otherwise be changed with the setDefaultAccessLevel command. If user control is in place user credentials can be given by parameters login/user and login/password.
  • The development process of this driver has been performed with mosaic-x5, firmware (FW) revision number 2, and AsteRx-SBi3 Pro, FW revision number 1. If a more up-to-date FW (higher revision number) is uploaded to the mosaic, the driver will not be able to take account of new or updated SBF fields.
  • ROSaic only works from C++11 onwards due to std::to_string() etc.
  • Once the catkin build or binary installation is finished, adapt the config/rover.yaml file according to your needs. The launch/rover.launch need not be modified. Specify the communication parameters, the ROS messages to be published, the frequency at which the latter should happen etc.:
  • Note for setting ant_serial_nr and ant_aux1_serial_nr: This is a string parameter, numeric-only serial numbers should be put in quotes. If this is not done a warning will be issued and the driver tries to parse it as integer.
# Configuration Settings for the Rover Rx

device: tcp://192.168.3.1:28784

serial:
  baudrate: 921600
  rx_serial_port: USB1
  hw_flow_control: off

login:
  user: ""
  password: ""

frame_id: gnss

imu_frame_id: imu

poi_frame_id: base_link

vsm_frame_id: vsm

aux1_frame_id: aux1

vehicle_frame_id: base_link

get_spatial_config_from_tf: true

lock_utm_zone: true

use_ros_axis_orientation: false

receiver_type: gnss

datum: ETRS89

poi_to_arp:
  delta_e: 0.0
  delta_n: 0.0
  delta_u: 0.0

att_offset:
  heading: 0.0
  pitch: 0.0

ant_type: Unknown
ant_aux1_type: Unknown
ant_serial_nr: Unknown
ant_aux1_serial_nr: Unknown

leap_seconds: 18

polling_period:
  pvt: 500
  rest: 500

use_gnss_time: false

ntrip_settings:
  mode: off
  caster: 0
  caster_port: 0
  username: 0
  password: 0
  mountpoint: 0
  ntrip_version: v2
  send_gga: auto
  rx_has_internet: false
  rtcm_version: RTCMv2
  rx_input_corrections_tcp: 6666
  rx_input_corrections_serial: USB2

publish:
  # For both GNSS and INS Rxs
    navsatfix: false
  gpsfix: true
  gpgga: false
  gprmc: false
  gpst : false
  measepoch: false
  pvtcartesian: false
  pvtgeodetic: true
  poscovcartesian: false
  poscovgeodetic: true
    velcovgeodetic: false
  atteuler: true
  attcoveuler: true
  pose: false
  diagnostics: false
  # For GNSS Rx only
  gpgsa: false
  gpgsv: false
  # For INS Rx only
  insnavcart: false
  insnavgeod: false
  extsensormeas: false
  imusetup: false
  velsensorsetup: false
  exteventinsnavcart: false
  exteventinsnavgeod: false
  imu: false
  localization: false
  tf: false

# INS-Specific Parameters

ins_spatial_config:
  imu_orientation:
    theta_x: 0.0
    theta_y: 0.0
    theta_z: 0.0
  poi_lever_arm:
    delta_x: 0.0
    delta_y: 0.0
    delta_z: 0.0
  ant_lever_arm:
    x: 0.0
    y: 0.0
    z: 0.0
  vel_sensor_lever_arm:
    vsm_x: 0.0
    vsm_y: 0.0
    vsm_z: 0.0

ins_initial_heading: auto

ins_std_dev_mask:
  att_std_dev: 5.0
  pos_std_dev: 10.0

ins_use_poi: true

# Logger

activate_debug_log: false

In order to launch ROSaic, one must specify all arg fields of the rover.launch file which have no associated default values, i.e. for now only the param_file_name field. Hence, the launch command reads roslaunch septentrio_gnss_driver rover.launch param_file_name:=rover.

Inertial Navigation System (INS): Basics

  • An Inertial Navigation System (INS) is a device which takes the rotation and acceleration solutions as obtained from its Inertial Measurement Unit (IMU) and combines those with position and velocity information from the GNSS module. Compared to a GNSS system with 7D or 8D (dual-antenna systems) phase space solutions, the combined, Kalman-filtered 9D phase space solution (3 for position, 3 for velocity, 3 for orientation) of an INS is more accurate, more precise and more stable against GNSS outages.

  • The IMU is typically made up of a 3-axis accelerometer, a 3-axis gyroscope and sometimes a 3-axis magnetometer and measures the system's angular rate and acceleration.

    Measure and Compensate for IMU-Antenna Lever Arm
    • The IMU-antenna lever-arm is the relative position between the IMU reference point and the GNSS Antenna Reference Point (ARP), measured in the vehicle frame.

    • In case of AsteRx SBi3, the IMU reference point is clearly marked on the top panel of the receiver. It is important to compensate for the effect of the lever arm, otherwise the receiver may not be able to calculate an accurate INS position.

    • The IMU/antenna position can be changed by specifying the lever arm's x,yand z parameters in the config.yaml file under the ins_spatial_config/ant_lever_arm parameter.

      Screenshot from 2021-08-03 09-23-19 (1)

    Compensate for IMU Orientation
    • It is important to take into consideration the mounting direction of the IMU in the body frame of the vehicle. For e.g. when the receiver is installed horizontally with the front panel facing the direction of travel, we must compensate for the IMU’s orientation to make sure the IMU reference frame is aligned with the vehicle reference frame. The IMU position and orientation is printed on the top panel, cf. image below.
    • The IMU's orientation can be changed by specifying the orientation angles theta_x,theta_yand theta_z in the config.yaml file under the ins_spatial_config/imu_orientation
    • The below image illustrates the orientation of the IMU reference frame with the associated IMU orientation for the depicted installation. Note that for use_ros_axis_orientation: true sensor_default is the top left position.

    Capture (1)

  • These Steps should be followed to configure the receiver in INS integration mode:

    • Specify receiver_type: ins
    • Specify the orientation of the IMU sensor with respect to your vehicle, using the ins_spatial_config/imu_orientation parameter
    • Specify the IMU-antenna lever arm in the vehicle reference frame. This is the vector starting from the IMU reference point to the ARP of the main GNSS antenna. This can be done by means of the ins_spatial_config/ant_lever_arm parameter.
    • If the point of interest is neither the IMU nor the ARP of the main GNSS antenna, the vector between the IMU and the point of interest can be provided with the ins_solution/poi_lever_arm parameter.
  • NOTE: This driver will always overwrite the previous value of the above mentioned parameters, also if the value is left to zero in the "yaml" file.

  • For further more information about Septentrio receivers, visit Septentrio support resources or check out the user manual and reference guide of the AsteRx SBi3 receiver.

ROSaic Parameters

The following is a list of ROSaic parameters found in the config/rover.yaml file.

  • Parameters Configuring Communication Ports and Processing of GNSS and INS Data

    Connectivity Specs
    • device: location of device connection
      • serial:xxx format for serial connections, where xxx is the device node, e.g. serial:/dev/ttyUSB0
      • file_name:path/to/file.sbf format for publishing from an SBF log
      • file_name:path/to/file.pcap format for publishing from PCAP capture.
        • Regarding the file path, ROS_HOME=`pwd` in front of roslaunch septentrio... might be useful to specify that the node should be started using the executable's directory as its working-directory.
      • tcp://host:port format for TCP/IP connections
        • 28784 should be used as the default (command) port for TCP/IP connections. If another port is specified, the receiver needs to be (re-)configured via the Web Interface before ROSaic can be used.
        • An RNDIS IP interface is provided via USB, assigning the address 192.168.3.1 to the receiver. This should work on most modern Linux distributions. To verify successful connection, open a web browser to access the web interface of the receiver using the IP address 192.168.3.1.
      • default: tcp://192.168.3.1:28784
    • serial: specifications for serial communication
      • baudrate: serial baud rate to be used in a serial connection. Ensure the provided rate is sufficient for the chosen SBF blocks. For example, activating MeasEpoch (also necessary for /gpsfix) may require up to almost 400 kBit/s.
      • rx_serial_port: determines to which (virtual) serial port of the Rx we want to get connected to, e.g. USB1 or COM1
      • hw_flow_control: specifies whether the serial (the Rx's COM ports, not USB1 or USB2) connection to the Rx should have UART HW flow control enabled or not
        • off to disable UART HW flow control, RTS|CTS to enable it
      • default: 921600, USB1, off
    • login: credentials for user authentification to perform actions not allowed to anonymous users. Leave empty for anonymous access.
      • user: user name
      • password: password
    Receiver Type
    • receiver_type: This parameter is to select the type of the Septentrio receiver
      • If gnss, then ROS can only output data related to GNSS receivers.
      • If ins, then ROS can only output data related to INS receivers.
      • default: gnss
    • multi_antenna: Whether or not the Rx has multiple antennas.
      • default: false
    Frame ID
    • frame_id: name of the ROS tf frame for the Rx, placed in the header of published GNSS messages. It corresponds to the frame of the main antenna.
      • In ROS, the tf package lets you keep track of multiple coordinate frames over time. The frame ID will be resolved by tf_prefix if defined. If a ROS message has a header (all of those we publish do), the frame ID can be found via rostopic echo /topic, where /topic is the topic into which the message is being published.
      • default: gnss
    • imu_frame_id: name of the ROS tf frame for the IMU, placed in the header of published Imu message
      • default: imu
    • poi_frame_id: name of the ROS tf frame for the POI, placed in the child frame_id of localization if ins_use_poi is set to true.
      • default: base_link
    • vsm_frame_id: name of the ROS tf frame for the velocity sensor.
      • default: vsm
    • aux1_frame_id: name of the ROS tf frame for the aux1 antenna.
      • default: aux1
    • vehicle_frame_id: name of the ROS tf frame for the vehicle. Default is the same as poi_frame_id but may be set otherwise.
      • default: base_link
    • get_spatial_config_from_tf: wether to get the spatial config via tf with the above mentioned frame ids. This will override spatial settings of the config file. For receiver type ins with multi_antenna set to true all frames have to be provided, with multi_antenna set to false, aux1_frame_id is not necessary. For type gnss with dual-antenna setup only frame_id, aux1_frame_id, and poi_frame_id are needed. For single-antenna gnss no frames are needed. Keep in mind that tf has a tree structure. Thus, poi_frame_id is the base for all mentioned frames.
      • default: false
    • use_ros_axis_orientation Wether to use ROS axis orientations according to ROS REP 103 for body related frames and geographic frames. Body frame directions affect INS lever arms and IMU orientation setup parameters. Geographic frame directions affect orientation Euler angles for INS+GNSS and attitude of dual-antenna GNSS.
      • If set to false Septentrios definition is used, i.e., front-right-down body related frames and NED (north-east-down) for orientation frames.
      • If set to true ROS definition is used, i.e., front-left-up body related frames and ENU (east-north-up) for orientation frames.
      • default: true
    UTM Zone Locking
    • lock_utm_zone: wether the UTM zone of the inital localization is locked, i.e., this zone is kept even if a zone transition would occur.
      • default: true
    Datum
    • datum: datum that (ellipsoidal) height should be referenced to in all published ROS messages
      • Since the standardized GGA message does only provide the orthometric height (= MSL height = distance from Earth's surface to geoid) and the geoid undulation (distance from geoid to ellipsoid) for which non-WGS84 datums cannot be specified, it does not affect the GGA message.
      • default: ETRS89
    POI-ARP Offset
    • poi_to_arp: offsets of the main GNSS antenna reference point (ARP) with respect to the point of interest (POI = marker). Use for static receivers only.
      • The parameters delta_e, delta_n and delta_u are the offsets in the East, North and Up (ENU) directions respectively, expressed in meters.
      • All absolute positions reported by the receiver are POI positions, obtained by subtracting this offset from the ARP. The purpose is to take into account the fact that the antenna may not be located directly on the surveying POI.
      • default: 0.0, 0.0 and 0.0
    Antenna Attitude Offset
    • att_offset: Angular offset between two antennas (Main and Aux) and vehicle frame
    • heading: The perpendicular (azimuth) axis can be compensated for by adjusting the heading parameter
    • pitch: Vertical (elevation) offset can be compensated for by adjusting the pitch parameter
    • default: 0.0, 0.0 (degrees)
    Antenna Specs
    • ant_type: type of your main GNSS antenna
      • For best positional accuracy, it is recommended to select a type from the list returned by the command lstAntennaInfo, Overview. This is the list of antennas for which the receiver can compensate for phase center variation.
      • By default and if ant_type does not match any entry in the list returned by lstAntennaInfo, Overview, the receiver will assume that the phase center variation is zero at all elevations and frequency bands, and the position will not be as accurate.
      • default: Unknown
    • ant_serial_nr: serial number of your main GNSS antenna
    • ant_aux1_type and ant_aux1_serial_nr: same for Aux1 antenna
    Leap Seconds
    • leap_seconds: number of leap seconds that have been inserted up until the point of ROSaic usage
      • At the time of writing the code (2020), the GPS time, which is unaffected by leap seconds, was ahead of UTC time by 18 leap seconds. Adapt the leap_seconds parameter accordingly as soon as the next leap second is inserted into the UTC time or in case you are using ROSaic for the purpose of simulations. In the latter case, in addition please set the parameter use_gnss_time to true and uncomment a paragraph in the UTCtoUnix() function definition found in the file septentrio_gnss_driver/src/septentrio_gnss_driver/parsers/parsing_utilities.cpp and enter the year, month and date to be simulated.
    Polling Periods
    • polling_period/pvt: desired period in milliseconds between the polling of two consecutive PVTGeodetic, PosCovGeodetic, PVTCartesian and PosCovCartesian blocks and - if published - between the publishing of two of the corresponding ROS messages (e.g. septentrio_gnss_driver/PVTGeodetic.msg) . If set to 0, the SBF blocks are output at their natural renewal rate (OnChange).
    • polling_period/rest: desired period in milliseconds between the polling of all other SBF blocks and NMEA sentences not addressed by the previous parameter, and - if published - between the publishing of all other ROS messages
      • default: 500 (2 Hz)
    Time Systems
    • use_gnss_time: true if the ROS message headers' unix epoch time field shall be constructed from the TOW/WNC (in the SBF case) and UTC (in the NMEA case) data, false if those times shall be taken by the driver from ROS time. If use_gnss_time is set to true, make sure the ROS system is synchronized to an NTP time server either via internet or ideally via the Septentrio recevier since the latter serves as a Stratum 1 time server not dependent on an internet connection. The NTP server of the receiver is automatically activated on the Septentrio recevier (for INS/GNSS a firmware >= 1.3.3 is needed).
      • default: true
    Correction Services
    • ntrip_settings: determines NTRIP connection parameters
      • The two implemented use cases are
        • a) The Rx has internet access, set rx_has_internet to true, and
        • b) The Rx has no internet access, set rx_has_internet to false, but Data Link from Septentrio's RxTools is installed on the computer.
      • The first nested ROS parameter, ntrip_settings/mode, specifies the type of the NTRIP connection and must be one of Client or off. In Client mode, the receiver receives data from the NTRIP caster. Set mode to off to disable all correction services.
      • Next, ntrip_settings/caster is the hostname or IP address of the NTRIP caster to connect to. To send data to the built-in NTRIP caster, use "localhost" for this parameter.
      • Note that ntrip_settings/port, ntrip_settings/username, ntrip_settings/password and ntrip_settings/mountpoint are the IP port number, the user name, the password and the mount point, respectively, to be used when connecting to the NTRIP caster. The receiver encrypts the password so that it cannot be read back with the command "getNtripSettings". The ntrip_settings/version argument specifies which version of the NTRIP protocol to use (v1 or v2).
      • Further, send_gga specifies whether or not to send NMEA GGA messages to the NTRIP caster, and at which rate. It must be one of auto, off, sec1, sec5, sec10 or sec60. In auto mode, the receiver automatically sends GGA messages if requested by the caster.
      • The boolean parameter rx_has_internet specifies whether the Rx has internet access or not. Note that an Ethernet cable is the only way to enable internet access on mosaic receivers (and most others) at the moment. In case internet is available, NTRIP will be configured with a simple command snts, ... that ROSaic sends to the receiver.
      • The parameter rtcm_version specifies the type of RTCM data transmitted to ROSaic by the NTRIP caster, either RTCMv2 or RTCMv3. It depends on the mountpoint.
      • In case the connection to the receiver is via TCP, rx_input_corrections_tcp specifies the port number of the IP server (IPS1) connection that ROSaic establishes on the receiver. Note that ROSaic will send GGA messages on this connection, such that in the Data Link application of RxTools one just needs to set up a TCP client to the host name as found in the ROSaic parameter device with the port as found in rx_input_corrections_tcp. If the latter connection were connection 1 on Data Link, then connection 2 would set up an NTRIP client connecting to the NTRIP caster as specified in the above parameters in order to forward the corrections from connection 2 to connection 1.
      • Finally, in case we are facing a serial connection (COM or USB), the parameter rx_input_corrections_serial analogously determines the port on which corrections could be serially forwarded to the Rx via Data Link.
      • default: off, empty, empty, empty, empty, empty, v2, auto, false, RTCMv2, 6666, USB2
    INS Specs
    • ins_spatial_config: Spatial configuration of INS/IMU. Coordinates according to vehicle related frame directions chosen by use_ros_axis_orientation (front-left-up if true and front-right-down if false).
      • imu_orientation: IMU sensor orientation
        • Parameters theta_x, theta_y and theta_z are used to determine the sensor orientation with respect to the vehicle frame. Positive angles correspond to a right-handed (clockwise) rotation of the IMU with respect to its nominal orientation (see below). The order of the rotations is as follows: theta_z first, then theta_y, then theta_x.
        • The nominal orientation is where the IMU is upside down and with the X axis marked on the receiver pointing to the front of the vehicle. By contrast, for use_ros_axis_orientation: true, nominal orientation is where the Z axis of the IMU is pointing upwards and also with the X axis marked on the receiver pointing to the front of the vehicle.
        • default: 0.0, 0.0, 0.0 (degrees)
      • poi_lever_arm: The lever arm from the IMU reference point to a user-defined POI
        • Parameters delta_x,delta_y and delta_z refer to the vehicle reference frame
        • default: 0.0, 0.0, 0.0 (meters)
      • ant_lever_arm: The lever arm from the IMU reference point to the main GNSS antenna
        • The parameters x,y and z refer to the vehicle reference frame
        • default: 0.0, 0.0, 0.0 (meters)
      • vel_sensor_lever_arm: The lever arm from the IMU reference point to the velocity sensor
        • The parameters vsm_x,vsm_y and vsm_z refer to the vehicle reference frame
        • default: 0.0, 0.0, 0.0 (meters)
    • ins_initial_heading: How the receiver obtains the initial INS/GNSS integrated heading during the alignment phase
      • In case it is auto, the initial integrated heading is determined from GNSS measurements.
      • In case it is stored, the last known heading when the vehicle stopped before switching off the receiver is used as initial heading. Use if vehicle does not move when the receiver is switched off.
      • default: auto
    • ins_std_dev_mask: Maximum accepted error
      • att_std_dev: Configures an output limit on standard deviation of the attitude angles (max error accepted: 5 degrees)
      • pos_std_dev: Configures an output limit on standard deviation of the position (max error accepted: 100 meters)
      • default: 5 degrees, 10 meters
    • ins_use_poi: Whether or not to use the POI defined in ins_spatial_config/poi_lever_arm
      • If true, the point at which the INS navigation solution (e.g. in insnavgeod ROS topic) is calculated will be the POI as defined above (poi_frame_id), otherwise it'll be the main GNSS antenna (frame_id). Has to be set to true if tf shall be published.
      • default: true
    Logger
    • activate_debug_log: true if ROS logger level shall be set to debug.
  • Parameters Configuring Publishing of ROS Messages

    NMEA/SBF Messages to be Published
    • publish/gpgga: true to publish nmea_msgs/GPGGA.msg messages into the topic /gpgga
    • publish/gprmc: true to publish nmea_msgs/GPRMC.msg messages into the topic /gprmc
    • publish/gpgsa: true to publish nmea_msgs/GPGSA.msg messages into the topic /gpgsa
    • publish/gpgsv: true to publish nmea_msgs/GPGSV.msg messages into the topic /gpgsv
    • publish/measepoch: true to publish septentrio_gnss_driver/MeasEpoch.msg messages into the topic /measepoch
    • publish/pvtcartesian: true to publish septentrio_gnss_driver/PVTCartesian.msg messages into the topic /pvtcartesian
    • publish/pvtgeodetic: true to publish septentrio_gnss_driver/PVTGeodetic.msg messages into the topic /pvtgeodetic
    • publish/poscovcartesian: true to publish septentrio_gnss_driver/PosCovCartesian.msg messages into the topic /poscovcartesian
    • publish/poscovgeodetic: true to publish septentrio_gnss_driver/PosCovGeodetic.msg messages into the topic /poscovgeodetic
    • publish/velcovgeodetic: true to publish septentrio_gnss_driver/VelCovGeodetic.msg messages into the topic /velcovgeodetic
    • publish/atteuler: true to publish septentrio_gnss_driver/AttEuler.msg messages into the topic /atteuler
    • publish/attcoveuler: true to publish septentrio_gnss_driver/AttCovEuler.msg messages into the topic /attcoveuler
    • publish/gpst: true to publish sensor_msgs/TimeReference.msg messages into the topic /gpst
    • publish/navsatfix: true to publish sensor_msgs/NavSatFix.msg messages into the topic /navsatfix
    • publish/gpsfix: true to publish gps_common/GPSFix.msg messages into the topic /gpsfix
    • publish/pose: true to publish geometry_msgs/PoseWithCovarianceStamped.msg messages into the topic /pose
    • publish/diagnostics: true to publish diagnostic_msgs/DiagnosticArray.msg messages into the topic /diagnostics
    • publish/insnavcart: true to publish septentrio_gnss_driver/INSNavCart.msg message into the topic/insnavcart
    • publish/insnavgeod: true to publish septentrio_gnss_driver/INSNavGeod.msg message into the topic/insnavgeod
    • publish/extsensormeas: true to publish septentrio_gnss_driver/ExtSensorMeas.msg message into the topic/extsensormeas
    • publish/imusetup: true to publish septentrio_gnss_driver/IMUSetup.msg message into the topic/imusetup
    • publish/velsensorsetup: true to publish septentrio_gnss_driver/VelSensorSetup.msgs message into the topic/velsensorsetup
    • publish/exteventinsnavcart: true to publish septentrio_gnss_driver/ExtEventINSNavCart.msgs message into the topic/exteventinsnavcart
    • publish/exteventinsnavgeod: true to publish septentrio_gnss_driver/ExtEventINSNavGeod.msgs message into the topic/exteventinsnavgeod
    • publish/imu: true to publish sensor_msgs/Imu.msg message into the topic/imu
    • publish/localization: true to publish nav_msgs/Odometry.msg message into the topic/localization
    • publish/tf: true to broadcast tf of localization. ins_use_poi must also be set to true to publish tf.

ROS Topic Publications

A selection of NMEA sentences, the majority being standardized sentences, and proprietary SBF blocks is translated into ROS messages, partly generic and partly custom, and can be published at the discretion of the user into the following ROS topics. All published ROS messages, even custom ones, start with a ROS generic header std_msgs/Header.msg, which includes the receiver time stamp as well as the frame ID, the latter being specified in the ROS parameter frame_id.

Available ROS Topics
  • /gpgga: publishes nmea_msgs/Gpgga.msg - converted from the NMEA sentence GGA
  • /gprmc: publishes nmea_msgs/Gprmc.msg - converted from the NMEA sentence RMC
  • /gpgsa: publishes nmea_msgs/Gpgsa.msg - converted from the NMEA sentence GSA
  • /gpgsv: publishes nmea_msgs/Gpgsv.msg - converted from the NMEA sentence GSV
  • /pvtcartesian: publishes custom ROS message septentrio_gnss_driver/PVTCartesian.msg, corresponding to the SBF block PVTCartesian (GNSS case) or INSNavGeod (INS case)
  • /pvtgeodetic: publishes custom ROS message septentrio_gnss_driver/PVTGeodetic.msg, corresponding to the SBF block PVTGeodetic (GNSS case) or INSNavGeod (INS case)
  • /poscovcartesian: publishes custom ROS message septentrio_gnss_driver/PosCovCartesian.msg, corresponding to SBF block PosCovCartesian (GNSS case) or INSNavGeod (INS case)
  • /poscovgeodetic: publishes custom ROS message septentrio_gnss_driver/PosCovGeodetic.msg, corresponding to SBF block PosCovGeodetic (GNSS case) or INSNavGeod (INS case)
  • /velcovgeodetic: publishes custom ROS message septentrio_gnss_driver/VelCovGeodetic.msg, corresponding to SBF block VelCovGeodetic (GNSS case)
  • /atteuler: publishes custom ROS message septentrio_gnss_driver/AttEuler.msg, corresponding to SBF block AttEuler (GNSS case) or INSNavGeod (INS case)
  • /attcoveuler: publishes custom ROS message septentrio_gnss_driver/AttCovEuler.msg, corresponding to the SBF block AttCovEuler (GNSS case) or INSNavGeod (INS case)
  • /gpst (for GPS Time): publishes generic ROS message sensor_msgs/TimeReference.msg, converted from the PVTGeodetic (GNSS case) or INSNavGeod (INS case) block's GPS time information, stored in its header, or - if use_gnss_time is set to false - from the systems's wall-clock time
  • /navsatfix: publishes generic ROS message sensor_msgs/NavSatFix.msg, converted from the SBF blocks PVTGeodetic,PosCovGeodetic (GNSS case) or INSNavGeod (INS case)
  • /gpsfix: publishes generic ROS message gps_msgs/GPSFix.msg, which is much more detailed than sensor_msgs/NavSatFix.msg, converted from the SBF blocks PVTGeodetic, PosCovGeodetic, ChannelStatus, MeasEpoch, AttEuler, AttCovEuler, VelCovGeodetic, DOP (GNSS case) or INSNavGeod, DOP (INS case)
  • /pose: publishes generic ROS message geometry_msgs/PoseWithCovarianceStamped.msg, converted from the SBF blocks PVTGeodetic, PosCovGeodetic, AttEuler, AttCovEuler (GNSS case) or INSNavGeod (INS case).
    • Note that GNSS provides absolute positioning, while robots are often localized within a local level cartesian frame. The pose field of this ROS message contains position with respect to the absolute ENU frame (longitude, latitude, height), i.e. not a cartesian frame, while the orientation is with respect to a vehicle-fixed (e.g. for mosaic-x5 in moving base mode via the command setAttitudeOffset, ...) !local! NED frame or ENU frame if use_ros_axis_directions is set true. Thus the orientation is !not! given with respect to the same frame as the position is given in. The cross-covariances are hence set to 0.
    • robot_localization allows to setup sensors very felixibly, so it is possible to fuse only heading from the /pose topic. Note that use_ros_axis_directions should be set to true for robot_localization.
  • /insnavcart: publishes custom ROS message septentrio_gnss_driver/INSNavCart.msg, corresponding to SBF block INSNavCart
  • /insnavgeod: publishes custom ROS message septentrio_gnss_driver/INSNavGeod.msg, corresponding to SBF block INSNavGeod
  • /extsensormeas: publishes custom ROS message septentrio_gnss_driver/ExtSensorMeas.msg, corresponding to SBF block ExtSensorMeas
  • /imusetup: publishes custom ROS message septentrio_gnss_driver/IMUSetup.msg, corresponding to SBF block IMUSetup
  • /velsensorsetup: publishes custom ROS message septentrio_gnss_driver/VelSensorSetup.msg corresponding to SBF block VelSensorSetup
  • /exteventinsnavcart: publishes custom ROS message septentrio_gnss_driver/INSNavCart.msg, corresponding to SBF block ExtEventINSNavCart
  • /exteventinsnavgeod: publishes custom ROS message septentrio_gnss_driver/INSNavGeod.msg, corresponding to SBF block ExtEventINSNavGeod
  • /diagnostics: accepts generic ROS message diagnostic_msgs/DiagnosticArray.msg, converted from the SBF blocks QualityInd, ReceiverStatus and ReceiverSetup
  • /imu: accepts generic ROS message sensor_msgs/Imu.msg, converted from the SBF blocks ExtSensorMeas and INSNavGeod.
    • The ROS message sensor_msgs/Imu.msg can be fed directly into the robot_localization of the ROS navigation stack. Note that use_ros_axis_orientation should be set to true to adhere to the ENU convention.
  • /localization: accepts generic ROS message nav_msgs/Odometry.msg, converted from the SBF block INSNavGeod and transformed to UTM.
    • The ROS message nav_msgs/Odometry.msg can be fed directly into the robot_localization of the ROS navigation stack. Note that use_ros_axis_orientation should be set to true to adhere to the ENU convention.

Suggestions for Improvements

Some Ideas
  • Automatic Search: If the host address of the receiver is omitted in the host:port specification, the driver could automatically search and establish a connection on the specified port.
  • Publishing the topic /twist: It could accept the generic ROS message geometry_msgs/TwistWithCovarianceStamped.msg, converted from the SBF blocks PVTGeodetic, PosCovGeodetic and others or via standardized NMEA sentences (cf. the NMEA driver).
  • Equip ROSaic with an NTRIP client such that it can forward corrections to the receiver independently of Data Link.

Adding New SBF Blocks or NMEA Sentences

Steps to Follow

Is there an SBF or NMEA message that is not being addressed while being important to your application? If yes, follow these steps:

  1. Find the log reference of interest in the publicly accessible, official documentation. Hence select the reference guide file, e.g. for mosaic-x5 in the product support section for mosaic-X5, Chapter 4, of Septentrio's homepage.
  2. Add a new .msg file to the septentrio_gnss_driver/msg folder.
  3. SBF: Add the new struct definition to the sbf_structs.hpp file.
  4. Parsing/Processing the message/block:
    • Both: Add a new include guard to let the compiler know about the existence of the header file (such as septentrio_gnss_driver/PVTGeodetic.h) that gets compiler-generated from the .msg file constructed in step 3.
    • SBF: Extend the NMEA_ID_Enum enumeration in the rx_message.hpp file with a new entry.
    • SBF: Extend the initialization of the RxIDMap map in the rx_message.cpp file with a new pair.
    • SBF: Add a new callback function declaration, a new method, to the io_comm_rx::RxMessage class in the rx_message.hpp file.
    • SBF: Add the latter's definition to the rx_message.cpp file.
    • SBF: Add a new C++ "case" (part of the C++ switch-case structure) in the rx_message.hpp file. It should be modeled on the existing evPVTGeodetic case, e.g. one needs a static counter variable declaration.
    • NMEA: Construct two new parsing files such as gpgga.cpp to the septentrio_gnss_driver/src/septentrio_gnss_driver/parsers/nmea_parsers folder and one such as gpgga.hpp to the septentrio_gnss_driver/include/septentrio_gnss_driver/parsers/nmea_parsers folder.
  5. Create a new publish/.. ROSaic parameter in the septentrio_gnss_driver/config/rover.yaml file, create a global boolean variable publish_... in the septentrio_gnss_driver/src/septentrio_gnss_driver/node/rosaic_node.cpp file, insert the publishing callback function to the C++ "multimap" IO.handlers_.callbackmap_ - which is already storing all the others - in the rosaic_node::ROSaicNode::defineMessages() method in the same file and add an extern bool publish_...; line to the septentrio_gnss_driver/include/septentrio_gnss_driver/node/rosaic_node.hpp file.
  6. Modify the septentrio_gnss_driver/CMakeLists.txt file by adding a new entry to the add_message_files section.