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SBG-Systems / sbg_ros2_driver

ROS 2 driver for SBG Systems IMU/AHRS/INS units such as ELLIPSE or QUANTA.
https://www.sbg-systems.com
MIT License
32 stars 25 forks source link

Added RTCM subscriber and NMEA GGA publisher #13

Closed cledant closed 1 year ago

cledant commented 1 year ago

In order to support a third party NTRIP client ROS2 module, an RTCM subscriber and NMEA GGA publisher were added.

thomasegriffith commented 1 year ago

I just tried this out on my end, and am able to successfully feed RTK corrections into an Ellipse D. This works with the normal fischer USB cable (no need for the 2x serial breakout cable). I use ntrip_client configured for rtcm to forward ntrip to the SBG driver.

Really nice job!