The ROBINS/GNSS INS System ROS2 driver is a software component designed to interface with a Global Navigation Satellite System (GNSS) module combined with an Inertial Navigation System (INS). The driver enables ROS2-based applications to access and utilize the raw GNSS and INS data for localization, navigation, and other related tasks.
Author: Robeff Technology
Maintainer: Robeff Technology
- Features
- Installation
- Configuration File
- Usage
- Customizing Configuration
- Troubleshooting
- Custom Messages
- Standard Messages
- Subscribed Topic
- Contributing
- License
- ROS2 Compatibility: Fully compatible with the ROS2 (Robot Operating System 2) ecosystem.
- GNSS Data: Reads raw data from the GNSS module, including satellite positions, timestamps, position, velocity, and other relevant information.
- INS Data: Retrieves data from the Inertial Navigation System, such as roll, pitch, and yaw angles.
- 6-DOF IMU Data: Provides data from the built-in ADIS16470 6-DOF IMU.
- Fused Output: Fuses GNSS and INS data using sensor fusion techniques (e.g., Extended Kalman Filter) for robust localization estimates.
- Configurable Parameters: Allows customization of various parameters to adapt to different GNSS/INS modules and user requirements.
Before proceeding with the installation, ensure you have the following prerequisites:
- ROS2 Humble: Ensure you have a working ROS2 Humble installation. Follow the official installation instructions if needed.
- Build Tools: Ensure you have the necessary build tools and dependencies installed on your system.
-
Clone the Repository: Clone the repository into your ROS2 workspace's source directory:
cd /path_to_your_ros2_workspace/src git clone https://github.com/Robeff-Technology/rbf_gnss_ins_driver.git -
Build the Workspace: Navigate to your ROS2 workspace and build the packages:
cd /path_to_your_ros2_ws colcon build --packages-select rbf_gnss_ins_driver -
Source the Workspace: Source your ROS2 workspace to make the newly built RBF GNSS INS driver node available:
source /path_to_your_ros2_ws/install/setup.bash
The rbf_gnss_ins_driver.param.yaml configuration file allows customization of the driver's behavior. Below is a table explaining each parameter:
| Parameter | Description | Default Value |
|---|---|---|
| working_frequency | The working frequency of the driver. | 200 |
| serial_config | ||
├─ port |
Current port name of the device | /dev/ttyUSB0 |
└─ baudrate |
Current baudrate of the device | 460800 |
| topic_config | ||
├─ rtcm_topic |
RTCM topic name | /sensing/gnss/ntrip/rtcm |
├─ imu_topic |
IMU topic name | robins/ros/imu |
├─ nav_sat_fix_topic |
NavSatFix topic name | robins/ros/gps_nav_sat_fix |
├─ twist_topic |
TwistWithCovarianceStamped topic name | robins/ros/twist_with_covariance_stamped |
└─ temperature_topic |
Temperature topic name | robins/ros/temperature |
| frame_config | ||
├─ gnss_frame |
GNSS frame name | gnss_ins_link |
└─ imu_frame |
IMU frame name | imu_link |
| time_config | ||
└─ use_ros_time |
Use ROS time if true (not recommended) | false |
| odometry_config | ||
├─ use_odometry |
Use odometry if true | false |
├─ odometry_topic |
Odometry topic name | robins/ros/odometry |
└─ odometry_frame |
Odometry frame name | odom |
| origin_config | ||
├─ latitude |
Latitude of the origin | 0.0 |
├─ longitude |
Longitude of the origin | 0.0 |
└─ altitude |
Altitude of the origin | 0.0 |
| altitude_config | ||
└─ altitude_mode |
Altitude mode (0: orthometric, 1: ellipsoid) | 0 |
-
Launch the RBF GNSS INS Driver Node: Start the RBF GNSS INS driver node using the provided launch file. Run the following command:
ros2 launch rbf_gnss_ins_driver rbf_gnss_ins_driver.launch.py
This will start the driver node and configure it based on the default parameters.
-
Verify Data: After launching the driver, verify that the GNSS and INS data are being published to the correct topics using tools like
ros2 topic echo.
To customize the behavior of the GNSS/INS driver:
- Locate the Configuration File: The
rbf_gnss_ins_driver.param.yamlconfiguration file is in the package'sconfigdirectory. - Customize Parameters: Edit the configuration file to modify the driver's behavior. Adjust parameters such as communication settings, INS settings, and output topics.
- Launch with Custom Configuration: Launch the driver node with the updated configuration:
ros2 launch rbf_gnss_ins_driver rbf_gnss_ins_driver.launch.py
- Build Errors: Ensure all dependencies are properly installed and sourced.
- Permissions: Ensure the user has the necessary permissions to access the GNSS/INS module (e.g.,
/dev/ttyUSB0). - Driver-specific Issues: Refer to the documentation or contact the developer for specific issues.
- Position and velocity in ECEF.
- Reports several status indicators, including differential age.
- Best available GNSS velocity without INS, including status indicators.
- Heading information of the receiver in motion.
- IMU status indicator.
- Integrated navigation results and deviations.
- Status of RTCM topic for debugging.
imu/Temp sensor_msgs/Temperature
- Temperature of the IMU. Requires
RAWIMU.
TwistWithCovarianceStamped geometry_msgs/TwistWithCovarianceStamped
- Velocity of the vehicle calculated with EKF. Requires
INSPVAX. /raw/ecef_twist: Velocity of the vehicle in ECEF. RequiresECEF.
NavSatFix sensor_msgs/NavSatFix
- Position of the vehicle calculated with EKF. Requires
INSPVAX. /raw/nav_sat_fix: Position of the vehicle without EKF. RequiresECEF.
Imu sensor_msgs/Imu
- IMU data calculated with EKF. Requires
RAWIMU,INSPVAX. /raw/imu: IMU data without EKF. RequiresRAWIMU.
Odometry nav_msgs/Odometry
- Odometry data. Requires
INSPVAX.
- RTCM data for RTK. For more information, see ntrip_client.
If you would like to contribute to this project, please contact Robeff Technology or submit a pull request on the GitHub repository.
This project is licensed under the Apache 2.0 License - see the LICENSE file for details.