gnss_compass_ros

ROS1 Package to calculate position and orientation using two gnss receivers .

Note.) RTK positioning is required for each GNSS receiver.
In the standard configuration, pose is only published when two antennas are in RTK-FIX.

roslaunch gnss_compass gnss_compass.launch

build

cd ~/catkin_ws/src
git clone --recursive https://github.com/MapIV/gnss_compass_ros.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
catkin_make -DCMAKE_BUILD_TYPE=Release

pubsub

• input
  /main/mosaic/gga (nmea_msgs/Gpgga)
  /sub/mosaic/gga (nmea_msgs/Gpgga)
  /tf_static(from "base_link" to main gnss's frame)

• output
  /gnss_compass_pose (geometry_msgs/PoseStamped)
  /gnss_compass_odom (nav_msgs/Odometry)
  /illigal_gnss_compass_odom (nav_msgs/Odometry)
  /diagnostics ([diagnostic_msgs/DiagnosticArray)
  /tf(from "map" to "base_link")

Notes on use

Be sure to set gnss_frequency, yaw_bias, and baseline_length in gnss_compass.yaml when using it.