shone-io / mav_rtk_gps

ROS drivers for the Piksi Real Time Kinematic (RTK) GPS

mav_rtk_gps

This repository contains (python) ROS drivers, tools, launch files, and wikis about how to use Piksi Real Time Kinematic (RTK) GPS device on MAVs (or more in general on any moving robot). There are two different driver versions: one for Piksi V2 and one for Piksi Multi.

Check the Wiki for instructions on how to get started with Piksi RTK GPS receiver.

The main advantage of these ROS drivers is supporting a two link communication for GPS corrections: Xbee and Wifi (see Correction Over WiFi for more info).

Overview

• init_rovio_npose0 : initialize Rovio to use external GPS pose measurements, when built with NPOSE=0
• mav_rtk_gui : handy Graphical User Interfaces to check the status of RTK fix.
• piksi_multi_rtk_gps: ROS driver for Piksi RTK receiver device, hardware version Multi.
• piksi_rtk_gps: ROS driver for Piksi RTK receiver device, hardware version V2.
• piksi_rtk_kml: ROS node to generate KML files (Keyhole Markup Language) from Piksi messages. These files can be visualized in Google Earth.
• piksi_rtk_msgs: ROS messages used by the driver(s).
• utils: collection of configurations and useful scripts.

Impatient Users

Piksi Multi

RTK fix obtained in average in 3 minutes.

• Install Piksi Multi ROS Driver.
• Configure Your Piksi Multi.
• Example Launch Files.

Piksi V2

RTK fix obtained in average in 10 minutes.

• Install Piksi V2 ROS Driver.
• Configure Your Piksi V2.
• Example Launch Files.

License

The source code is released under a BSD 3-Clause license.

Credits

Marco Tranzatto, Michael Pantic, Kai Holtmann - ETHZ ASL & RSL - 17 July 2017

Based on the initial work of Daniel Eckert.

Contact

Marco Tranzatto marcot(at)ethz.ch

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.