Advanced Navigation ROS1 Driver

Introduction

This is an example using the Advanced Navigation Spatial SDK to create a ROS1 driver that reads and decodes the Advanced Navigation Packet Protocol (ANPP) (in this case packet #20 and packet #28) and publishes the information as ROS topics / messages.

This example also includes the encoding of ANPP packet #55 and pushes the information to the Spatial INS.

It is designed to work with all Advanced Navigation INS devices using ANPP.

The code has been written to be easy to understand and for ease of extensibility with other ANPP packets.

This example has been developed and tested using Ubuntu Linux v20.04 LTS (Focal) and ROS1 Noetic.

NOTE: This ROS1 Drive does include

• Bug Fixes from ros-drivers/advanced_navigation_driver:
  • High resource usage #11
  • Conform to ros conventions regarding frame id's and coordinate frames
  • Get quaternion from packet
  • Added loop rate to reduce CPU load
  • updates as requested
• Added Features
  • NTRIP Client Integration
  • Logging ANPP

Build Instruction

• Open a New Terminal, and navigate to workspace-folder-name\src\

• Get the Advanced Navigation ROS1 Driver

  git clone https://github.com/DFKI-NI/advanced_navigation_driver.git
  

• In the root of your workspace, workspace-folder-name, source and build the package:

  • Build your new package:

  catkin_make
  

  • Source the ROS1 Environment to the current folder:

  source devel/setup.bash
  

Device Configuration

To use this example code, your Advanced Navigation device should be configured to output ANPP packets #20 and #28.

If you are not sure how to configure your Advanced Navigation Device please refer to the Reference Manual on the relevant product page (https://www.advancednavigation.com/products/all).

• Set up your serial port so they are visible:

 sudo adduser user_name dialout

Run Instructions

Open a new terminal or new tab, navigate to workspace-folder-name, and source the setup files:

source devel/setup.bash

• Run the Driver in the following manners:
  1. Baud Rate and Comm Port as arguments:

     usage: rosrun package_name package_name [baud_rate] [comm_port]
        package_name     Name of the ROS package
        baud_rate        The Baud rate configured on the device. Default 115200
        comm_port        The COM port of the connected device. Default /dev/ttyUSB0
     

     e.g. rosrun ros1-driver ros1-driver 115200 /dev/ttyUSB0
  2. Baud Rate, Comm Port and NTRIP as arguments:

     rosrun package_name package_name -B [baud_rate] -D [comm_port] -s [server_url] -m [mountpoint]  -u [username] -p [password]
       package_name     Name of the ROS package
       -B baud_rate     Baud rate configured on the device. Default 115200
       -D comm_port     COM port of the connected device. Default /dev/ttyUSB
       -s server_url    URL of the NTRIP server
       -m mountpoint    Name of the mountpoint
       -u username      Username of your NTRIP account
       -p password      Password of your NTRIP account 
     

     e.g. rosrun ros1-driver ros1-driver -B 115200 -D /dev/ttyUSB0 -s alldayrtk.com -m MOUNTPOINT_20 -u yourUsername -p yourPassword

Published Topics

Use RQT Monitor to view published topics. Here you will find details on how to use RQT: http://wiki.ros.org/rqt

• Run RQT Monitor by entering the following on a new Terminal:

  rqt
  

• To view the published messages in RQT Monitor, click Plugins-Topics and click Topic Monitor