Basic definitions and utility functions for GNSS raw measurement processing

Related tags

Miscellaneous ros gnss
Overview

gnss_comm

Authors/Maintainers: CAO Shaozu (shaozu.cao AT gmail.com)

The gnss_comm package contains basic definitions and utility functions for GNSS raw measurement processing.

1. Prerequisites

1.1 C++11 Compiler

This package requires some features of C++11.

1.2 ROS

This package is developed under ROS Kinetic environment.

1.3 Eigen

Our code uses Eigen 3.3.3 for matrix manipulation. After downloading and unzipping the Eigen source code package, you may install it with the following commands:

cd eigen-3.3.3/
mkdir build
cd build
cmake ..
sudo make install

1.4 Glog

We use google's glog library for message output. If you are using Ubuntu, install it by:

sudo apt-get install libgoogle-glog-dev

If you are on other OS or just want to build it from source, please follow these instructions to install it.

2. Build gnss_comm library

Clone the repository to your catkin workspace (for example ~/catkin_ws/):

cd ~/catkin_ws/src/
git clone https://github.com/HKUST-Aerial-Robotics/gnss_comm.git

Then build the package with:

cd ~/catkin_ws/
catkin_make
source ~/catkin_ws/devel/setup.bash

If you encounter any problem during the building of gnss_comm, try with docker in the next section.

3. Docker Support

To simplify the building process, we add docker in our code. Docker is like a sandbox so it can isolate our code from your local environment. To run with docker, first make sure ros and docker are installed on your machine. Then add your account to docker group by sudo usermod -aG docker $USER. Relaunch the terminal or logout and re-login if you get Permission denied error, type:

cd ~/catkin_ws/src/gnss_comm/docker
make build

The docker image gnss_comm:latest should be successfully built after a while. Then you can check all available docker images in your local machine by docker image ls command.

4. Acknowledgements

Many of the definitions and utility functions in this package are adapted from RTKLIB.

5. License

The source code is released under GPLv3 license.

Issues
  • Keep the messages separated from the rest of the library

    Keep the messages separated from the rest of the library

    Hi all, thank you for providing this package. I would recommend to keep the message definitions separated from the rest of the library, in order not to force any user to compile the library and its dependencies only to access the ROS messages. Please see my PR #1

    opened by mcamurri 0
  • separate messages from gnss_comm

    separate messages from gnss_comm

    This PR separates the message definitions from the main gnss_comm catkin package. It is common practice to keep the message definitions separated from the rest, in case someone needs only the message definitions but not the library itself.

    opened by mcamurri 0
Owner
HKUST Aerial Robotics Group
HKUST Aerial Robotics Group
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