av_gps

This repository hosts the required environment for running the ROS 2 Novatel GPS driver, specifically configured for running with a Novatel PwrPak7D GNSS receiver with dual antennas.

Docker container

• Operating System: Ubuntu 22.04

• ROS Distribution: Humble Hawksbill

• Novatel Drivers:

  • ros-humble-novatel-gps-driver : Manages communication with the Novatel GPS receiver, from novatel_gps_driver
  • ros-humble-novatel-gps-msgs: Custom Novatel ROS msgs [Included in apt as dependency of ros-humble-novatel-gps-driver]

  Note: Although the driver versions are not pinned in the Dockerfile, version 4.1.2-1 is the latest release available (via apt ) that has been tested on the vehicle sensor.

For more details please see Dockerfile

ROS 2 launcher

The av_gps_launch ROS package contains the required launch files and configuration parameters for launching the driver for a Novatel PwrPak7D GNSS.

Usage

Quickly build and run the Docker container using runtime.sh for runtime or debugging, and dev.sh for a convenient development setup.

Runtime or Debugging

Execute the ROS 2 nodes in runtime mode or start an interactive bash session for detailed debugging:

./runtime.sh [bash]

• Without arguments: Activates the container in runtime mode.
• With bash: Opens an interactive bash session for debugging.

Development

Prepare a development setting that reflects local code modifications and simplifies the build process:

./dev.sh

• Live Code Synchronization: Mounts local av_gps_launch directory with the container.
• Convenience Alias: The development container features a colcon_build alias, which simplifies the ROS2 build process. Executing colcon_build runs colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release and then sources the setup.bash to ensure the environment is updated with the latest build artifacts. This alias enhances productivity by combining build commands and environment setup into a single, easy command.