Ros2 Topic Based RTCM publisher #9
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ConnorNeed
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Dec 15, 2024
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This Node attempts to take a different approach to than what we have been working on over the past 2 months. This approach is a little more custom since we had to implement this node. However it is a much cleaner architecture utilizing the power of ros2 topics. I still want to develop both methods and then compare field testing results for accuracy, reliability, ect.
New functionality:
src/gps/gps/rtcm_pub_node.py: AddedRtcmNodeclass for managing RTCM data via serial communication and publishing it to the/rtcmtopic. This includes serial I/O operations, parameter loading, and RTCM message configuration.Launch files:
src/gps/launch/basestation.launch.py: Added launch file to start thertcm_pub_nodeand other related nodes with specified parameters.Testing:
I ran the node and the parsed data that gets logged makes sense and there are raw values being published to the topic. However we can not say for certain if it works until we configure a node such as https://github.com/KumarRobotics/ublox/tree/ros2 and actually test it with two receivers. I will do this when we come back in January.