Duro Inertial GPS Driver

Overview

This is a C++ ROS driver for Swiftnaw Duro Inertial (Piksi Multi Inertial) GPS / GNSS Receivers. The code is based on offical Swiftnav libswiftnav C example and Alex Hajnal's UTM converter code.

Scope

The current version supports only (not tested elsewhere):

• Ubuntu 18.04
• ROS Melodic
• Catkin tools https://catkin-tools.readthedocs.io/
• Only ethernet version (no serial or USB support)

Install

1. step

Install libsbp (Swift binary protocol library) C client library from GitHub: https://github.com/swift-nav/libsbp It is detailed in github, but the main steps are:

sudo apt-get install build-essential pkg-config cmake doxygen check
cd ~; mkdir git; cd git     # eg create a git folder, the forder name can be different
git clone https://github.com/swift-nav/libsbp.git
cd libsbp/c/
git submodule update --init --recursive
mkdir build; cd build
cmake ../
make
sudo make install

This will create some files in /usr/local/include/libsbp/ and in /usr/local/lib.

2. step

Catkin build duro-ros. Todo: @rudolfkrecht

Settings

Enable MSG ID 544 and 545 in swift console. These orientation messages are not enabled in default configuration. The MSG ID is defined in the headers, e.g. #define SBP_MSG_ORIENT_QUAT 0x0220 which is decimal 544. Todo: @rudolfkrecht

Run

Todo: @rudolfkrecht E.g:

rosrun duro-gps duronode _address:=192.168.0.222 _port:=55555
rosrun duro-gps duronode _address:=192.168.1.222 _port:=55555
rosrun duro-gps duronode

Topics

Todo: @rudolfkrecht An important topic is /gps/duro/current_pose which is geometry_msgs/PoseStamped type in UTM (https://en.wikipedia.org/wiki/Universal_Transverse_Mercator_coordinate_system) eg:

header: 
  seq: 554S
  stamp: 
    secs: 1580388036
    nsecs: 641742448
  frame_id: ''
pose: 
  position: 
    x: 697214.762607
    y: 5285721.97968
    z: 157.104031829
  orientation: 
    x: 0.00819693645462
    y: 0.00343747669831
    z: 0.692575566471
    w: 0.721290563233

Further reading:

• Libswiftav: https://github.com/swift-nav/libswiftnav
• ETH python Piksi ROS drivers: https://github.com/ethz-asl/ethz_piksi_ros