nmea-msgs (定义了之前说的,gpgga, gpgsa, gpgsv, gprmc,sentence等数据格式) nmea-navsat-driver 主节点。从读取serial,设定baud rate,到转换到ROS,到读取GGA nmea格式,到最后发布到ros支持的msg格式一气呵成。 ros nmea-navsat-driver package nmea_comms nmea_comms库的作用是,从serial port读取sentence 。同时...
uint16_t MsgType; // Counter variables to count the number of Rtcm msgs in the input stream(for each msg type) uint32_t Cnt105; uint32_t Cnt177; uint32_t Cnt187; // Counter variables to count the number of messages that failed Crc Check uint32_t Crc105; uint32_t Crc177; uint...
$GPGGA,134658.00,5106.9792,N,11402.3003,W,2,09,1.0,1048.47,M,-16.27,M,08,0000*60 - $GPGGA: Log Header, 起始引导符及语句格式说明 - 134658.00: UTC时间(比北京时间慢8小时), 格式为hhmmss.sss, 24小时制, hh总是2位数 - 5106.9792: 纬度, 格式为ddmm.mmmm - N: 纬度半球, 北纬N, 南纬S - ...
antsetup=rtcm->sta.itrf=rtcm->sta.deltype=0; 87 for (i=0;i<3;i++) { 88 rtcm->sta.pos[i]=rtcm->sta.del[i]=0.0; 89 } 90 rtcm->sta.hgt=0.0; 91 rtcm->dgps=NULL; 92 for (i=0;i<MAXSAT;i++) { 93 rtcm->ssr[i]=ssr0; 94 } 95 rtcm->msg[0]=rtcm-...