Fraunhofer-IIS · yar-malik · Aug 21, 2013 · Aug 21, 2013 · Aug 21, 2013 · Aug 22, 2013
diff --git a/rtklib/CMakeLists.txt b/rtklib/CMakeLists.txt
@@ -6,15 +6,27 @@ rosbuild_init()
 find_package(LAPACK)
 find_package(BLAS)
 
-if(${LAPACK_FOUND} and ${BLAS_FOUND})
+#if(${LAPACK_FOUND} and ${BLAS_FOUND})
     add_definitions(-DLAPACK)
-endif()
+#endif()
+
+rosbuild_genmsg()
 
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include/rtklib)
+rosbuild_find_ros_package(rtklib)
 
 set(src ${CMAKE_CURRENT_SOURCE_DIR}/src/src)
 rosbuild_add_library(rtk
   ${src}/rtksvr.c
+  ${src}/convkml.c
+  ${src}/datum.c
+  ${src}/download.c
+  ${src}/postpos.c
+  ${src}/ppp_ar.c
+  ${src}/qzslex.c
+  ${src}/rtcm3e.c
+  ${src}/streamsvr.c
+  ${src}/tle.c
   ${src}/rtkcmn.c
   ${src}/rtkpos.c
   ${src}/geoid.c
@@ -24,6 +36,8 @@ rosbuild_add_library(rtk
   ${src}/stream.c
   ${src}/rcvraw.c
   ${src}/rtcm.c
+  ${src}/rtcm2.c
+  ${src}/rtcm3.c
   ${src}/preceph.c
   ${src}/options.c
   ${src}/pntpos.c
@@ -35,8 +49,11 @@ rosbuild_add_library(rtk
   ${src}/rcv/skytraq.c
   ${src}/rcv/gw10.c
   ${src}/rcv/javad.c
+  ${src}/rcv/binex.c
+  ${src}/rcv/nvs.c
+  ${src}/rcv/rcvlex.c
   ${src}/ephemeris.c
   ${src}/rinex.c
   ${src}/ionex.c
 )
-target_link_libraries(rtk ${LAPACK_LIBRARIES} ${BLAS_LIBRARIES})
+target_link_libraries(rtk ${LAPACK_LIBRARIES} ${BLAS_LIBRARIES})
diff --git a/rtklib/msg/Almanac.msg b/rtklib/msg/Almanac.msg
@@ -0,0 +1,22 @@
+# The almanac consists of coarse orbit and status information for each satellite in the constellation, an ionospheric model, and information to relate GNSS derived time to Coordinated Universal Time (UTC)
+
+int32 sat                     # satellite number
+int32 svh                     # sv health (0:ok)
+int32 svconf                  # as and sv config
+int32 week                    # GPS/QZS: gps week, GAL: galileo week
+Header toa                    # Toa
+
+# SV orbit parameters
+float64 A
+float64 e
+float64 i0
+float64 OMG0
+float64 omg
+float64 M0
+float64 OMGd
+
+float64 toas                  # Toa (s) in week
+
+# SV clock parameters (af0,af1)
+float64 f0
+float64 f1
diff --git a/rtklib/msg/AntennaParameter.msg b/rtklib/msg/AntennaParameter.msg
@@ -0,0 +1,12 @@
+# antenna parameter type
+
+int32 sat              # satellite number (0:receiver)
+int8[] type            # antenna type
+int8[] code            # serial number or satellite code
+
+time ts                # valid time start
+time te                # valid time end
+
+float64[3] off         # phase center offset e/n/u or x/y/z (m)
+float64[19] var        # phase center variation (m)
+                       # el=90,85,...,0 or nadir=0,1,2,3,... (deg)
diff --git a/rtklib/msg/DifferentialGnss.msg b/rtklib/msg/DifferentialGnss.msg
@@ -0,0 +1,7 @@
+# DGPS/GNSS correction type
+
+time t0             # correction time
+float64 prc         # pseudorange correction (PRC) (m)
+float64 rrc         # range rate correction (RRC) (m/s)
+int32 iod           # issue of data (IOD)
+float64 udre        # UDRE
diff --git a/rtklib/msg/Ephemeris.msg b/rtklib/msg/Ephemeris.msg
@@ -0,0 +1,3 @@
+# GPS/QZS/GAL broadcast ephemeris type
+
+int32 sat             # satellite number
diff --git a/rtklib/msg/GlonassEphemeris.msg b/rtklib/msg/GlonassEphemeris.msg
@@ -0,0 +1,18 @@
+# GLONASS broadcast ephemeris type
+
+int32 sat                      # satellite number
+int32 iode                     # IODE (0-6 bit of tb field)
+int32 frq                      # satellite frequency number
+int32 svh                      # satellite health
+int32 sva                      # satellite accuracy
+int32 age                      # satellite age of operation
+
+time toe                       # epoch of epherides (gpst)
+time tof                       # message frame time (gpst)
+
+geometry_msgs/Vector3 pos      # satellite position (ecef) (m)
+geometry_msgs/Vector3 vel      # satellite velocity (ecef) (m/s)
+geometry_msgs/Vector3 acc      # satellite acceleration (ecef) (m/s^2)
+float64 taun                   # SV clock bias (s)
+float64 gamn                   # relative freq bias
+float64 dtaun                  # delay between L1 and L2 (s)
diff --git a/rtklib/msg/Navigation.msg b/rtklib/msg/Navigation.msg
@@ -0,0 +1,37 @@
+# navigation data type
+
+Ephemeris[] eph                     # GPS/QZS/GAL ephemeris
+GlonassEphemeris[] geph             # GLONASS ephemeris
+SbasEphemeris[] seph                # SBAS ephemeris
+PreciseEphemeris[] peph             # precise ephemeris
+PreciseClock[] pclk                 # precise clock
+Almanac[] alm                       # almanac data
+TotalElectronContent[] tec          # TEC grid data
+stec_t[] stec                       # stec grid data 
+erp_t erp                           # earth rotation parameters
+
+float64[4] utc_gps                  # GPS delta-UTC parameters {A0,A1,T,W}
+float64[4] utc_glo                  # GLONASS UTC GPS time parameters
+float64[4] utc_gal                  # Galileo UTC GPS time parameters
+float64[4] utc_qzs                  # QZS UTC GPS time parameters
+float64[4] utc_cmp                  # BeiDou UTC parameters
+float64[4] utc_sbs                  # SBAS UTC parameters 
+float64[8] ion_gps                  # GPS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3}
+float64[4] ion_gal                  # Galileo iono model parameters {ai0,ai1,ai2,0}
+float64[8] ion_qzs                  # QZSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3}
+float64[8] ion_cmp                  # BeiDou iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} 
+int32 leaps                         # leap seconds (s)
+
+AntennaParameter[] pcvs             # satellite antenna pcv
+sbssat_t sbssat                     # SBAS satellite corrections
+sbsion_t[] sbsion                   # SBAS ionosphere corrections
+DifferentialGnss[] dgps             # DGPS corrections
+ssr_t[] ssr                         # SSR corrections
+QzssEphemeris[] lexeph              # LEX ephemeris
+QzssIonosphereCorrection lexion     # LEX ionosphere correction
+
+lam[] lamcwl                        # carrier wave lengths (m)
+cbias[] codebias                    # code bias (0:p1-p2,1:p1-c1,2:p2-c2) (m)
+float64[] wlbias                    # wide-lane bias (cycle) 
+float64[] glo_cpbias                # glonass code-phase bias {1C,1P,2C,2P} (m) 
+uint8[] glo_fcn
diff --git a/rtklib/msg/Observation.msg b/rtklib/msg/Observation.msg
@@ -0,0 +1,3 @@
+# observation data record
+
+ObservationData[] data          # observation data records
diff --git a/rtklib/msg/ObservationData.msg b/rtklib/msg/ObservationData.msg
@@ -0,0 +1,11 @@
+ # observation data records
+
+time time             # receiver sampling time (GPST)
+uint8 sat             # satellite
+uint8 rcv             # receiver number
+uint8[] SNR           # signal strength (0.25 dBHz)
+uint8[] LLI           # loss of lock indicator
+uint8[] code          # code indicator (CODE_???)
+float64[] L           # observation data carrier-phase (cycle)
+float64[] P           # observation data pseudorange (m)
+float32[] D           # observation data doppler frequency (Hz)
diff --git a/rtklib/msg/PreciseClock.msg b/rtklib/msg/PreciseClock.msg
@@ -0,0 +1,6 @@
+# precise clock type
+
+time time               # time (GPST)
+int32 index             # clock index for multiple files
+float64[] clk           # satellite clock (s)
+float32[] std           # satellite clock std (s)
diff --git a/rtklib/msg/PreciseEphemeris.msg b/rtklib/msg/PreciseEphemeris.msg
@@ -0,0 +1,6 @@
+# precise ephemeris type
+
+time time                 # time (GPST)
+int32 index               # ephemeris index for multiple files
+float64[] pos             # satellite position/clock (ecef) (m|s)
+float32[] std             # satellite position/clock std (m|s)
diff --git a/rtklib/msg/QzssEphemeris.msg b/rtklib/msg/QzssEphemeris.msg
@@ -0,0 +1,17 @@
+# QZSS LEX ephemeris type
+
+time toe                             # epoch time (GPST)
+time tof                             # message frame time (GPST)
+
+int32 sat                            # satellite
+uint8 health                         # signal health (L1,L2,L1C,L5,LEX)
+uint8 ura                            # URA index
+
+geometry_msgs/Vector3  pos           # satellite position (m)
+geometry_msgs/Vector3  vel           # satellite velocity (m/s)
+geometry_msgs/Vector3  acc           # satellite acceleration (m/s2)
+geometry_msgs/Vector3  jerk          # satellite jerk (m/s3)
+float64 af0                          # satellite clock bias
+float64 af1                          # satellite clock drift (s,s/s)
+float64 tgd                          # TGD
+float64[] isc                        # ISC
diff --git a/rtklib/msg/QzssIonosphereCorrection.msg b/rtklib/msg/QzssIonosphereCorrection.msg
@@ -0,0 +1,6 @@
+# QZSS LEX ionosphere correction type
+
+time t0                      # epoch time (GPST)
+float64 tspan                # valid time span (s)
+float64[2] pos0              # reference position {lat,lon} (rad)
+float64[6] coefs             # coefficients lat x lon (3 x 2)
diff --git a/rtklib/msg/SbasEphemeris.msg b/rtklib/msg/SbasEphemeris.msg
@@ -0,0 +1,13 @@
+# SBAS ephemeris type
+
+int32 sat                       # satellite number
+time t0                         # reference epoch time (GPST)
+time tof                        # time of message frame (GPST)
+int32 sva                       # SV accuracy (URA index)
+int32 svh                       # SV health (0:ok)
+
+geometry_msgs/Vector3 pos       # satellite position (m) (ecef)
+geometry_msgs/Vector3 vel       # satellite velocity (m/s) (ecef)
+geometry_msgs/Vector3 acc       # satellite acceleration (m/s^2) (ecef)
+float64 af0                     # satellite clock-offset (s,s/s)
+float64 af1                     # satellite drift (s,s/s)
diff --git a/rtklib/msg/SbasFastCorrection.msg b/rtklib/msg/SbasFastCorrection.msg
@@ -0,0 +1,9 @@
+# SBAS fast correction type
+
+time t0             # time of applicability (TOF)
+float64 prc         # pseudorange correction (PRC) (m)
+float64 rrc         # range-rate correction (RRC) (m/s)
+float64 dt          # range-rate correction delta-time (s)
+int32 iodf          # IODF (issue of date fast corr)
+int16 udre          # UDRE+1
+int16 ai            # degradation factor indicator
diff --git a/rtklib/msg/SbasLongTermErrorCorrection.msg b/rtklib/msg/SbasLongTermErrorCorrection.msg
@@ -0,0 +1,8 @@
+# SBAS long term satellite error correction type
+
+time t0                        # correction time
+int32 iode                     # IODE (issue of date ephemeris)
+geometry_msgs/Vector3 dpos     # delta position (m) (ecef)
+geometry_msgs/Vector3 dvel     # delta velocity (m/s) (ecef)
+float64 daf0                   # delta clock-offset(s,s/s)
+float64 daf1s                  # delta drift (s,s/s)
diff --git a/rtklib/msg/TotalElectronContent.msg b/rtklib/msg/TotalElectronContent.msg
@@ -0,0 +1,12 @@
+# TEC type
+
+time time                # epoch time (GPST)
+
+int32[] ndata            # TEC grid data size {nlat,nlon,nhgt}
+
+float64 rb               # earth radius (km)
+float64[] lats           # latitude start/interval (deg)
+float64[] lons           # longitude start/interval (deg)
+float64[] hgts           # heights start/interval (km)
+float64[] data           # TEC grid data (tecu)
+float32[] rms            # RMS values (tecu)
diff --git a/rtklib/msg/cbias.msg b/rtklib/msg/cbias.msg
@@ -0,0 +1,5 @@
+# code bias (0:p1-p2,1:p1-c1,2:p2-c2) (m)
+
+float64 p1_p2
+float64 p1_c1
+float64 p2_c2
diff --git a/rtklib/msg/erp_t.msg b/rtklib/msg/erp_t.msg
@@ -0,0 +1,3 @@
+# earth rotation parameter type
+
+erpd_t[] data         # earth rotation parameter data
diff --git a/rtklib/msg/erpd_t.msg b/rtklib/msg/erpd_t.msg
@@ -0,0 +1,9 @@
+# earth rotation parameter data type
+
+float64 mjd                 # mjd (days)
+float64 xp
+float64 yp                  # pole offset (rad)
+float64 xpr
+float64 ypr                 # pole offset rate (rad/day)
+float64 ut1_utc             # ut1-utc (s)
+float64 lod                 # length of day (s/day)
diff --git a/rtklib/msg/gtec_t.msg b/rtklib/msg/gtec_t.msg
@@ -0,0 +1,9 @@
+# G_TEC type
+
+time time              # epoch time (GPST)
+
+int32 sat              # satellite number
+int32 ntype            # number of stec data types
+int32 ndata            # number of stec data
+
+float32[] data         # G_TEC data
diff --git a/rtklib/msg/lam.msg b/rtklib/msg/lam.msg
@@ -0,0 +1,8 @@
+#Datatype for lam message type (carrier wave lengths (m) )
+
+float64 L1
+float64 L2
+float64 L5
+float64 L6
+float64 L7
+float64 L8
diff --git a/rtklib/msg/sbsigp_t.msg b/rtklib/msg/sbsigp_t.msg
@@ -0,0 +1,7 @@
+# SBAS ionospheric correction type
+
+time t0               # correction time
+int16 lat             # latitude (deg)
+int16 lon             # longitude (deg)
+int16 give            # GIVI+1
+float32 delay         # vertical delay estimate (m)
diff --git a/rtklib/msg/sbsion_t.msg b/rtklib/msg/sbsion_t.msg
@@ -0,0 +1,5 @@
+# SBAS ionospheric corrections type
+
+int32 iodi                 # IODI (issue of date ionos corr)
+int32 nigp                 # number of igps
+sbsigp_t[] igp             # ionospheric correction
diff --git a/rtklib/msg/sbssat_t.msg b/rtklib/msg/sbssat_t.msg
@@ -0,0 +1,6 @@
+# SBAS satellite corrections type
+
+int32 iodp               # IODP (issue of date mask)
+int32 nsat               # number of satellites
+int32 tlat               # system latency (s)
+sbssatp_t[] sat          # satellite correction
diff --git a/rtklib/msg/sbssatp_t.msg b/rtklib/msg/sbssatp_t.msg
@@ -0,0 +1,5 @@
+# SBAS satellite correction type
+
+int32 sat                                   # satellite number
+SbasFastCorrection fcorr                    # fast correction
+SbasLongTermErrorCorrection lcorr           # long term correction
diff --git a/rtklib/msg/ssr_t.msg b/rtklib/msg/ssr_t.msg
@@ -0,0 +1,14 @@
+ # SSR correction type
+
+time t0             # epoch time (GPST)
+float64[] udi       # SSR update interval (s)
+int32[] iod
+int32 iode          # issue of data
+int32 ura           # URA indicator
+int32 refd          # sat ref datum (0:ITRF,1:regional)
+float64[] deph      # delta orbit {radial,along,cross} (m)
+float64[] ddeph     # dot delta orbit {radial,along,cross} (m/s)
+float64[] dclk      # delta clock {c0,c1,c2} (m,m/s,m/s^2)
+float64 hrclk       # high-rate clock corection (m)
+float32[] cbias     # code biases (m)
+uint8 update        # update flag (0:no update,1:update)
diff --git a/rtklib/msg/sta_t.msg b/rtklib/msg/sta_t.msg
@@ -0,0 +1,17 @@
+# station parameter type
+
+std_msgs/String name           # marker name
+std_msgs/String marker         # marker number
+std_msgs/String antdes         # antenna descriptor
+std_msgs/String antsno         # antenna serial number
+std_msgs/String rectype        # receiver type descriptor
+std_msgs/String recver         # receiver firmware version
+std_msgs/String recsno         # receiver serial number
+
+int32 antsetup                 # antenna setup id
+int32 itrf                     # ITRF realization year
+int32 deltype                  # antenna delta type (0:enu,1:xyz)
+
+geometry_msgs/Vector3 pos      # station position (ecef) (m)
+geometry_msgs/Vector3 del      # antenna position delta (e/n/u or x/y/z) (m)
+int64 hgt                      # antenna height (m)
diff --git a/rtklib/msg/stec_t.msg b/rtklib/msg/stec_t.msg
@@ -0,0 +1,7 @@
+# stec grid type
+
+float64[] pos              #latitude/longitude (deg)
+int32[] index              #search index
+int32 n
+int32 nmax                 #number of data
+stecd_t[] data             #stec data