lc29h_gps_rtk

ROS2 対応 lc29h GPS RTK publish node.
gps : lc29hea

ubuntu 22.04
PC and OrangePi 5 (Armbian and ubuntu 22.04)
ros2:humble

参照: ROS2 LC29H-EA GPS RTK を作る。

1. down load and build.

$ cd ~/colcon_ws/src  
$ git clone https://github.com/tosa-no-onchan/lc29h_gps_rtk.git  
$ cd ..  
$ colcon build --symlink-install [--parallel-workers 1] --packages-select lc29h_gps_rtk  
$ . install/setup.bash  

2. update launch param

$ cd src/lc29h_gps_rtk/launch  
$ mv lc29h_gps_rtk.launch.py-sample lc29h_gps_rtk.launch.py  

edit launh.py  

        # for ntrip_Client
        DeclareLaunchArgument('ip', default_value='183.178.46.135', description=''), 
        DeclareLaunchArgument('port', default_value='2101', description=''),
        DeclareLaunchArgument('user', default_value='IBS', description=''),
        DeclareLaunchArgument('passwd', default_value='IBS', description=''),
        DeclareLaunchArgument('mountpoint', default_value='T430_32', description=''),
        DeclareLaunchArgument('latitude', default_value='50.09', description=''),
        DeclareLaunchArgument('longitude', default_value='8.66', description=''),

3. run on SBC(Armibian orangePi 5)

$ sudo chmod 777 /dev/ttyUSB0  
$ ros2 launch lc29h_gps_rtk lc29h_gps_rtk.launch.py  

f.RTCM[nn] が出たら、RTK float OK  
F.RTCM[nn] が出たら、 RTK Fix OK です。  

4. check on Remote PC

$ sudo ufw disable  
$ ros2 topic list  
/fix  
/parameter_events  
/rosout  

$ ros2 topic echo /fix  
$ ros2 topic info /fix --verbose  

5. setting

At GGA[6] (status) is 5:RTK float, You can let node to wait publish until GGA[7] (Numbers of satellite) value became more than gga_num value.
While acutual GGA[7] value is less than gga_num value, Node will not publish sensor_msgs::msg::NavSatFix at all.

        DeclareLaunchArgument('gga_num', default_value='0', description='GGA satellite num in RTK float'),   # 17-30:recomend , 0: no check

6. How to.

You can watch node's output "gga_num:17 - 21 over" in a terminal. Since then wait for a while about from 5 to 10 minutes over.
And then, although GGA[6] is 5:RTK float, LC29H-EA RTK will become to semi fix state
and start to put out the nearly correct values such as 100cm level. I think.
Please wait for it with patience.
You had better to wait RTK Fix.

 gga_num:nn  
 nn: 17 - 21 over   

You can check with the following command ,and check whether if latitude and longitude value be fix.

$ ros2 topic echo /fix

Once LC29H-EA RTK becomes to semi fix state, you can move GPS freely.