NTRIP Client ROS

Robeff Technology NTRIP Client package publish RTCM ROS messages and send through serial port.

Installation

Dependencies

• [Robot Operating System (ROS-ROS2)] (Humble)

Installation of ROS2 Humble-> https://docs.ros.org/en/humble/Installation.html

• mavros_msgs

sudo apt install ros-<distro>-mavros-msgs

• nmea_msgs

sudo apt install ros-<distro>-nmea-msgs

Install Repo

cd ~/catkin_ws/src
git clone -b RobiOne https://github.com/Robeff-Technology/ntrip_client.git
cd ..

Build

colcon build --packages-select ntrip_client_ros

Parameters

To connect RTK provider you need to set parameters in config file. You can find config file in ntrip_client_ros/config/ntrip_client_ros.yaml. Configure RTK credentials, port and ROS parameters to use ntrip_client package.

* NTRIP Parameters

NTRIP parameters are credentials provided by your RTK provider. Write the IP, Username, password, mount point, port, information provided by your provider in the relevant places in the yaml file.

Parameter	Type	Detailed Description	Default
ntrip_ip	String	NTRIP Connection IP	"111.111.11.11"
ntrip_user_name	String	NTRIP Username	"ABCDEF1234"
ntrip_password	String	NTRIP Password provided by RTK provider	"asdfghj"
ntrip_mount_point	String	NTRIP Mount point	"VRSRTCM31"
ntrip_port	Integer	NTRIP connection port	2101
ntrip_location_lat	Double	Latitude of RTK initial location	41.018893949
ntrip_location_lon	Double	Longitude of RTK initial location	28.890924848

* ROS Parameters

The ROS package can both publish the RTCM message as a ROS message from a topic and send it serially from a desired USB port. The package can be used as desired by changing publish_port_rtcm or publish_ros_rtcm_active parameters.

Parameter	Type	Detailed Description	Default
publish_port_rtcm_active	Boolean	Set "true" to send RTCM message through serial USB port	false
serial_port	String	Serial port device name of RTK connection	"/dev/ttyUSB0"
serial_port_baud_rate	Integer	Serial communication baud rate	460800
publish_ros_rtcm_active	Boolean	Publish RTK message as ROS2 topic in mavros_msgs type	true
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

ros2 launch ntrip_client_ros ntrip_client_ros.launch.py