dgps_ros

Introduction

ROS Package for differential GPS, with no external dependency.
It receive RTCM data from the Ntrip(Networked Transport of RTCM via Internet Protocol) server, and send to the gps module. NMEA data received from gps module is then converted into navsatfix message.

Installation

1. mkdir -p catkin/src
2. cd catkin
3. catkin_make
4. cd src/
5. wget https://gitee.com/rivercloud/dgps_ros/repository/archive/master.zip
6. unzip master
7. cd ..
8. catkin_make

how to launch

1. roslaunch dgps_ros dgps.launch

paramaters

~server
address(domain name or ip address) for Ntrip(Networked Transport of RTCM via Internet Protocol) server

~port
service port for the ntrip server

~username
username for ntrip server

~password
password for username in ntrip server

~serialPort
serial port device file for the gps device

published topics

dgps(sensor_msgs/NavSatFix)
differential GPS message