上次我在 用嵌入式Linux系统制作低成本差分GNSS文章里,讲了高精度GNSS定位需要向模块输入差分改正数据,常用的差分改正定位的数据是RTCM格式,通常是通过串口发送到GNSS模块中。GNSS模块受到RTCM格式数据后,就会…
Thank you for implementing this new feature. I tested branch feature/ros_rtcm_msgs to make sure it all worked properly, and it did. (I passed in the arg rtcm_message_package set to rtcm_msgs, and my F9P acquired RTK Fixed mode right away using my local rtk2go ntrip server. I want ...
单独imu的坐标系模式 调用的ahrs_driver节点会发布sensor_msgs/Imu格式的imu topic。 std_msgs/Header header uint32 seq time stamp string frame_id geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w float64[9] orientation_covariance geometry_msgs/Vector3 angular_velocity float...
geometry_msgs/Twist twist geometry_msgs/Vector3 linear_acceleration float64[] mileage uint8 status float64[] status_data uint8 Location_Invalid=0uint8 Outdoor_Single=1uint8 Outdoor_Rtcm_Diff=2uint8 Outdoor_Satell_Err=3uint8 Outdoor_Imu_Whell=4uint8 Outdoor_Fix=5uint8 Indoor_Imu=6uint8 ...
/rtcm: This node will publish the RTCM corrections received from the server to this topic asRTCM messages. These messages can be consumed by nodes such as themicrostrain_inertial_driver NOTE: The type of message can be switched betweenmavros_msgs/RTCMandrtcm_msgs/Messageusing thertcm_message_pac...
Thesbg_devicenode can subscribe tortcm_msgs/Messagetopics to forward differential corrections to the INS internal GNSS receiver. The RTCM data stream is sent through the serial/ethernet interface used by ROS to communicate with the INS. This enables simple and efficient RTK operations without requiri...
"RTCMv2" send_gga: "auto" keep_open: true ip_server_2: id: "IPS5" port: 28786 rtk_standard: "CMRv2" send_gga: "auto" keep_open: true serial_1: port: "COM1" baud_rate: 230400 rtk_standard: "auto" send_gga: "sec1" keep_open: true serial_2: port: "COM2" baud_rate: 23...
rtcm_topic | String | Topic name that provides all rtcm message in mavros_msgs type | "/sensing/gnss/ntrip/rtcm" | debug | Boolean | Set 'true' to print published data sizes in terminal | true | ##Run ```bash ros2 launch ntrip_client_ros ntrip_client_ros.launch.py ...
But should I add rtcm_msgs as a dependency? It is one if the user intends to use that message. That would force all users of the current version to apt install ros-noetic-rtcm-msgs, regardless of the fact that current SW only uses mavros_msgs. Or I could leave it not declared as ...
http */ #define STRFMT_RTCM2 0 /* stream format: RTCM 2 */ #define STRFMT_RTCM3 1 /* stream format: RTCM 3 */ #define STRFMT_OEM4 2 /* stream format: NovAtel OEMV/4 */ #define STRFMT_OEM3 3 /* stream format: NovAtel OEM3 */ #define STRFMT_UBX 4 /* stream format: u...