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piksi_multi_rtk package from earth_rover_piksi repo

earth_rover_piksi piksi_multi_rtk piksi_rtk_msgs

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.8.2
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/earthrover/earth_rover_piksi.git
VCS Type git
VCS Version master
Last Updated 2019-02-08
Dev Status MAINTAINED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS driver for Piksi Multi RTK GPS Receiver.

Additional Links

No additional links.

Maintainers

  • Andres Palomino
  • Ricard Pardell

Authors

No additional authors.
piksi_multi_rtk/README.md

piksi_multi_rtk

ROS node to read SBP messages from an attached Piksi Multi RTK device.

The piksi_multi_rtk package has been tested under ROS Indigo and Ubuntu 14.04, and ROS Kinetic and Ubuntu 16.04.

WARNING: default baud rate of the driver is set to ‘230400’ (default baud rate of Piksi Multi is ‘115200’).

Installation and Configuration

**WARNING: install ONLY ONE version of SBP library, depending of which Hardware version you are using. This page contains the driver for Piksi Multi.

The following code will automatically download the required version of libsbp and install it in the default folder /usr/local/lib/python2.7/dist-packages/sbp-<SBP_LIB_VERSION>-py2.7.egg/sbp/.

# Execute this line in the package folder 'piksi_multi_rtk'
source install/install_piksi_multi.sh

Firmware and SBP Lib Version

Please check here which Piksi Multi firmware version based on the current SBP Lib version.

Advertised Topics

The most interesting advertised topics are:

  • /piksi/navsatfix_rtk_fix (sensor_msgs/NavSatFix) in case of RTK fix position from Piksi then this message contains WGS 84 coordinates;
  • /piksi/navsatfix_spp (sensor_msgs/NavSatFix) in case of SPP fix position from Piksi then this message contains WGS 84 coordinates;
  • /piksi/navsatfix_best_fix (sensor_msgs/NavSatFix) this message contains WGS 84 coordinates with best available fix at the moment (either RTK or SPP);
  • /piksi/enu_pose_fix (geometry_msgs/PointStamped) this message contains ENU (East-North-Up) coordinate of the receiver in case of RTK fix. Orientation is set to identity quaternion (w=1);
  • /piksi/enu_pose_spp (geometry_msgs/PointStamped) this message contains ENU (East-North-Up) coordinate of the receiver in case of SPP fix. Orientation is set to identity quaternion (w=1);
  • /piksi/enu_pose_best_fix (geometry_msgs/PointStamped) this message contains ENU (East-North-Up) coordinate of the receiver with best available fix at the moment (either RTK or SPP). Orientation is set to identity quaternion (w=1);

Rosservice

The following services are available:

  • piksi/settings_write: writes a specific setting to Piksi Multi;
  • piksi/settings_read_req: requests a parameter to Piksi Multi;
  • piksi/settings_read_resp: reads the latest response of a “settings_read_req” request;
  • piksi/settings_save: saves the current settings of Piksi Multi to its flash memory.
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
catkin
geometry_msgs
piksi_rtk_msgs
sensor_msgs
roslib
rospy

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
earth_rover_localization
earth_rover_piksi

Launch files

  • launch/piksi_multi_rover.launch
      • interface [default: serial]
      • baud_rate [default: 230400]
      • tcp_addr [default: 192.168.0.222]
      • base_station_ip [default: 192.168.0.1]
      • load_enu_origin_from_file [default: false]
      • enu_origin_file [default: $(find piksi_multi_rtk)/cfg/enu_origin_example.yaml]
  • launch/geodetic_survey.launch
      • number_of_desired_fixes [default: 5000]
      • height_base_station_from_ground [default: 1.89]
  • launch/piksi_multi_base_station.launch
      • interface [default: serial]
      • baud_rate [default: 230400]
      • tcp_addr [default: 192.168.0.222]
      • broadcast_addr [default: 192.168.0.255]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged piksi_multi_rtk at Robotics Stack Exchange