Installation

Install the ublox package with:

sudo apt update
sudo apt install ros-[distro]-ublox-dgnss

Running the Node

After setting up RTK on the base with ublox, use the following command to make each base start receiving RTK and publishing the corrected topics:

ros2 run ublox_dgnss_node ublox_dgnss_node --ros-args -r __ns:=/rover1 -p device_serial_string:="'1'"

• Replace /rover1 with your desired output topic namespace.
• Replace "'1'" with your device's specific id

Output Topics

For this particular example, the output topic will be /rover1/ubx_nav_pvt.

This topic is of type UBXNavPVT, which can be imported from the installed ublox-gps package with:

from ublox_ubx_msgs.msg import UBXNavPVT

Running base station launch scripts

To configure rtk on the base station:

./run_rtk_base_station.sh POLE_LAT POLE_LON POLE_ALT DISTANCE BEARING

Example:

./run_rtk_base_station.sh 38.221704 -110.421456 1309.99 0 0

To run the path planning, spiral planning, and base station controller:

./run_state_machine_base_station.sh LIDAR_PATH

Example:

./run_state_machine_base_station.sh ~/motel.laz