Ethernet interface to OxTS GPS receivers using the NCOM packet structure
Tested with the RT3000v2 receiver.
gps/fix(sensor_msgs/NavSatFix) GPS position in geodetic coordinates (latitude and longitude)
gps/vel(geometry_msgs/TwistWithCovarianceStamped) GPS velocity in ENU frame
linear.xVelocity due East in m/s
linear.yVelocity due North in m/s
linear.zVelocity up in m/s
gps/odom(nav_msgs/Odometry) GPS position and heading in UTM frame, and velocity in vehicle body frame
pose.position.xUTM Easting in meters
pose.position.yUTM Northing in meters
pose.orientationYaw quaternion representing the heading in UTM. Keep in mind that this UTM heading is relative to the UTM grid, which is not necessarily aligned with due East. This phenomenon is known as "grid convergence". See Wikipedia for details.
twist.linear.xLocal frame forward velocity of the vehicle in m/s
twist.linear.yLocal frame lateral velocity of the vehicle in m/s
twist.angular.zYaw rate of the vehicle in rad/s
imu/data(sensor_msgs/Imu) Orientation, angular rates, and linear accelerations reported directly from the OxTS unit
gps/pos_type(std_msgs/String) Position solution type reported by the OxTS unit (point position, differential pseudorange, RTK float, RTK integer, etc.)
gps/nav_status(std_msgs/String) Navigation status reported by the OxTS unit.
imu/datatopics will not be published until this topic contains the string "READY".
gps/time_ref(sensor_msgs/TimeReference) UTC equivalent of the GPS timestamp reported by the OxTS unit.
interfaceRestrict to single network interface, example:
ip_addressLocal IP listen address. Default
portLocal UDP listen port. Default
frame_id_gpsThe frame-ID for geodetic GPS position and IMU. Default
frame_id_velThe frame-ID for ENU GPS velocity. Default
frame_id_odomThe frame-ID for UTM odometry. Default
rosrun oxford_gps_eth gps_node
roslaunch oxford_gps_eth gps.launch
Connected to Oxford GPS at <ip_address>:3000, but GPS position and velocity messages are not being published.
Data is not published until the OxTS unit reports itself as being completely initialized. Drive around faster than 5 m/s for a short period of time after powering on the OxTS unit to initialize the sensor. The
gps/nav_status string topic indicates the status of the initialization process. Once this string shows "READY", the GPS position and velocity messages should start publishing.