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KumarRobotics / ublox

A driver for ublox gps
BSD 3-Clause "New" or "Revised" License
450 stars 389 forks source link

Publish rtcm_msgs on a topic #187

Open arpaterson opened 2 years ago

arpaterson commented 2 years ago

Is your feature request related to a problem? Please describe. Not a problem, but a different use-case that would make some problems go away.

Currently, RTK with eg. the F9P is possible (ros noetic). ublox_f9p is able to subscribe to rtcm_msg's on topic /rtcm, and pass them into the F9P module, and then it gives us back a nice accurate NavSatFix, all via the one USB cable or serial port. The /rtcm topic typically gets published from ntrip_client.

Describe the solution you'd like I'd like to be able to simply run two ublox_gps nodes and pass rtcm_msg's from one to the other. One as fixed-base, the other as rover. You might say that doesn't make sense having both connected to the same machine. It makes sense, because in our projects we bridge topics between two ROS instances with separate ROS masters using mqtt_client, although any other way of bridging topics between ROS instances would work.

Describe alternatives you've considered The alternatives are to use ntrip_client and an internet based ntrip caster - not so convenient is you don't have internet at the test site, or to run your own ntrip server and ntrip caster, in order to feed ntrip_client. These add more complexity and issues.

Additional context I'm sure more flexibility in how rtcm_msg's are sourced and passed around won't hurt. Perhaps this would open up other ideas.

bryangd34 commented 1 year ago

Hi @arpaterson

Did you ever find a solution? Thanks.

arpaterson commented 1 year ago

Solution would be to make the changes myself, however I no longer have a ZED unit to work with.

Did you ever find a solution? Thanks.