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.