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szenergy / duro_gps_driver

:blue_book: ROS/ROS2 driver for SwiftNav Duro Inertial GPS / GNSS receivers
BSD 3-Clause "New" or "Revised" License
11 stars 14 forks source link

How to write RTK correction bytes on socket? #25

Open JeyP4 opened 2 years ago

JeyP4 commented 2 years ago

Hi

Suppose I have RTK correction bytes ready (somehow streaming), How to write bytes on the socket of the rover piksi?

-Thanks

horverno commented 2 years ago

hi @JeyP4

rostopic echo /gps/duro/status_string

Is it a a suitable solution?

JeyP4 commented 2 years ago

Hi @horverno

In a "base station + rover" configuration, base station sends some encoded bytes to the rover. Rover than uses these bytes to get its rtk correction.

So at the rover location, in its duro node i can create a subscriber to subscribe for the encoded bytes. In the callback fn of the subscriber, i don't know how to write those bytes on the 'libsbp' socket !!

horverno commented 2 years ago

Personally I never tested base station + rover, only the rtk version.