is_gps_publisher_ros2

A GPS and IMU data parser and publisher ROS2 package. Takes in NMEA messages from a specified network port using UDP packets, then parses them and outputs the parsed GPS and IMU data in the sensor_messages Imu and NavSatFix formats as ROS2 topics.

Requirements

Ubuntu & ROS2
GPS that outputs NMEA messages in the PIMU and GGA formats
Above messages sent as UDP packets to known network port

Tested Using

Ubuntu 22.04 ARM64
ROS2 Humble
Nvidia Jetson AGX Orin
Inertial Sense uINS
ISRoverNetworkNMEA

Setup

Create a ROS2 Workspace

mkdir -p gpsWS/src
cd gpsWS/src

Clone the respository in the src folder

git clone https://github.com/ChesterMK7/is_gps_publisher_ros2

Make sure to configure the network port and frame id you are using

nano is_gps_publisher_ros2/src/gps_parser.hpp

Specifically modify these lines in gps_parser.hpp

#define GPS_FRAME "gps_link" // GPS frame name
#define IMU_FRAME "imu_link" // IMU frame name
#define PORT 25565 // Port used
#define MAXLINE 256 // Maximum line length

Return to the workspace directory and build using colcon

cd ..
source /opt/ros/<ros2-version>/setup.bash
colcon build

Source the workspace

source install/setup.bash

Usage

Run the parser/publisher node

ros2 run is_gps_publisher_ros2 gps_output_publisher

Viewing output data

Open a new terminal tab/window

IMU

source /opt/ros/<ros2-version>/setup.bash
ros2 topic echo /imu

GPS

source /opt/ros/<ros2-version>/setup.bash
ros2 topic echo /nav_sat_fix