ROS RTK node for UBX M8P GPS base station

Due to the lack of hardware available to me, this project goes unmaintained.

This node is made to work with Mavros's RTK plugin: https://github.com/mavlink/mavros/blob/ros2/mavros_extras/src/plugins/gps_rtk.cpp

Installation

mkdir -p $HOME/Workspace/src
cd $HOME/Workspace/src
git clone --recursive http://github.com/AlexisTM/rtk_ros

cd $HOME/Workspace/
catkin build

Running

rosrun rtk_ros rtk_ros_node _port:=/dev/ttyACM0

Parameters

port = "/dev/ttyACM0"
baud = 115200
survey/accuracy = 4.0 # meters
survey/duration = 90.0 # seconds

Output

~/rtcm_out as mavros_msgs::RTCM # RTCM3 data
~/gps as sensor_msgs::NavSatFix # GPS data

To work with mavros, redirect ~/rtcm_out to ~/send_rtcm. Once the survey is done, mavros will publish ~/rtk_baseline.