mosaic_gnss_driver

Lightweight ROS Driver Package for the Septentrio Mosaic development kit

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Installation

git clone https://github.com/Team-Abhiyaan/mosaic_gnss_driver.git
rosdep install --from-paths mosaic_gnss_driver

Usage

• Setup a stream from the mosaic webinterface
• Edit parameters in the config/driver.yml configuration file
• Launch driver

roslaunch mosaic_gnss_driver mosaic_gnss.launch

1. ROS Parameters

   • connection: Type of connection. Supported ones are tcp, udp, serial and pcap.
   • device:
     • for IP (TCP/UDP): A host:port specification. eg: 192.168.3.1:9999
     • for Serial: A filehandle. eg: /dev/TTYUSB0
     • for PCAP: Path to pcap file relative to package.
   • serial/baudrate: The Baud rate in case of serial connection.
   • stream: Type of stream. Supported ones are sbf, nmea.
   • frame_id: ROS TF frame to place in the header of published messages.
   • use_gnss_time: if set to true, header's time field will be constructed from incoming data.
   • sbf_pvt_type: "type" set pvt type used by module geodetic or cartesian.

2. Published ROS Topics

   • /navsatfix (sensor_msgs/NavSatFix)
     
     • Note: Published by NMEA and SBF Geodetic streams.
   • /pose (geometry_msgs/PoseWithCovarianceStamped): Only from SBF Cartesian streams.
   • /velocity (geometry_msgs/TwistWithCovarianceStamped):
     
     • Note: NMEA Parser can only publish linear velocity in x,y directions due to less information from NMEA Sentence.
   • /time_reference (sensor_msgs/TimeReference): Publishes Unix Epoch Time given by NMEA data.
   • /nmea_sentence (nmea_msgs/Sentence): Publishes NMEA Sentence sent by the module if "pub_nmea_msg" parameter is set to true.