This usb based driver is focused on UBLOX Generation 9 UBX messaging, for base-rover DGNSS. This fork provides a rudimentary ROS-topic-based RTCM message transfer from Base -> Rover. Only a single USB port connection is required, with UBX and RTCM messages being transferred across it. Ensure that your base/rover unit has the correct configuration to send/receive RTCM3 messages on the USB port, before trying this out.
Testing and development was performed against a ZED-F9P connected via USB, under Ubuntu 20.04 and Ubuntu 18.04. The driver uses libusb api 1.0. ROS2 Eloquent is the target version for this repository. ROS2 Foxy is supported by making small changes to the launch file (remove the 'node_' prefixes).
You may need to create a udev rule as follows:
/etc/udev/rules.d/99-ublox-gnss.rules
#UBLOX ZED-F9P
ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a9", MODE="0666", GROUP="plugdev"
This driver follows the UBX standards used for the ZED-F9P as documented in the interface description.
It implements a subset of the specification related to achieving high precision output as a rover. U-center can be used to alter settings. Any configuration parameter changed by this driver, will be applied only in RAM. Upon a restart (hot, cold or warm) or after a hot plug usb attach event, the configuration stored in the driver will be sent to the device.
There are multiple ways to start the node. Its been built using composition. An executable is provider. An example follows which turns off NMEA output at startup.
ros2 run ublox_dgnss_node ublox_dgnss_node --ros-args -p CFG_USBOUTPROT_NMEA:=False
Parameters can be set at launch and some examples are provided to launch high precision pos ecef|llh
ros2 launch ublox_dgnss ublox_rover_hpposecef.launch.py
ros2 launch ublox_dgnss ublox_rover_hpposllh.launch.py
Four services are provided to reset odo, cold start, warm start and hot start.
ros2 service call /ublox_dgnss/reset_odo ublox_ubx_interfaces/srv/ResetODO
ros2 service call /ublox_dgnss/cold_start ublox_ubx_interfaces/srv/ColdStart '{reset_type: 1}'
ros2 service call /ublox_dgnss/warm_start ublox_ubx_interfaces/srv/WarmStart '{reset_type: 1}'
ros2 service call /ublox_dgnss/hot_start ublox_ubx_interfaces/srv/HotStart '{reset_type: 1}'
Parameter values can be set at any time or passed when the node starts
ros2 param set /ublox_dgnss CFG_RATE_NAV 2
or the current value retrieved
ros2 param get /ublox_dgnss CFG_RATE_NAV
The following parameters may be set. Its a subset of the full UBX Gen 9 configuration parameter list.
Values will be as described in the integration manual (without scaling applied). Changing a CFG_MSGOUT_* type parameter to a value >0 will cause the corresponding ublox_ubx_msgs to be published.
CFG_INFMSG_NMEA_USB CFG_INFMSG_UBX_USB CFG_MSGOUT_UBX_NAV_CLOCK_USB CFG_MSGOUT_UBX_NAV_COV_USB CFG_MSGOUT_UBX_NAV_DOP_USB CFG_MSGOUT_UBX_NAV_EOE_USB CFG_MSGOUT_UBX_NAV_HPPOSECEF_USB CFG_MSGOUT_UBX_NAV_HPPOSLLH_USB CFG_MSGOUT_UBX_NAV_ODO_USB CFG_MSGOUT_UBX_NAV_POSECEF_USB CFG_MSGOUT_UBX_NAV_POSLLH_USB CFG_MSGOUT_UBX_NAV_PVT_USB CFG_MSGOUT_UBX_NAV_RELPOSNED_USB CFG_MSGOUT_UBX_NAV_STATUS_USB CFG_MSGOUT_UBX_NAV_TIMEUTC_USB CFG_MSGOUT_UBX_NAV_VELECEF_USB CFG_MSGOUT_UBX_NAV_VELNED_USB CFG_NAVHPG_DGNSSMODE CFG_NAVSPG_DYNMODEL CFG_NAVSPG_FIXMODE CFG_NAVSPG_INIFIX3D CFG_NAVSPG_UTCSTANDARD CFG_ODO_COGLPGAIN CFG_ODO_COGMAXPOSACC CFG_ODO_COGMAXSPEED CFG_ODO_OUTLPCOG CFG_ODO_OUTLPVEL CFG_ODO_PROFILE CFG_ODO_USE_COG CFG_ODO_USE_ODO CFG_ODO_VALLPGAIN CFG_RATE_MEAS CFG_RATE_NAV CFG_RATE_TIMEREF CFG_TMODE_MODE CFG_TMODE_POS_TYPE CFG_UART1INPROT_NMEA CFG_UART1INPROT_RTCM3X CFG_UART1INPROT_UBX CFG_UART1OUTPROT_NMEA CFG_UART1OUTPROT_RTCM3X CFG_UART1OUTPROT_UBX CFG_USBINPROT_NMEA CFG_USBINPROT_RTCM3X CFG_USBINPROT_UBX CFG_USBOUTPROT_NMEA CFG_USBOUTPROT_RTCM3X CFG_USBOUTPROT_UBX
The following messages may be outputed. They included a std_msgs/Header header with the remainder of the fields matching the UBX output. Note that field names use different notation as the UBX field name notation is not compliant with the ROS IDL field names.
/ubx_nav_clock
/ubx_nav_cov
/ubx_nav_dop
/ubx_nav_eoe
/ubx_nav_hp_pos_ecef
/ubx_nav_hp_pos_llh
/ubx_nav_odo
/ubx_nav_pos_ecef
/ubx_nav_pos_llh
/ubx_nav_pvt
/ubx_nav_rel_pos_ned
/ubx_nav_status
/ubx_nav_time_utc
/ubx_nav_vel_ecef
/ubx_nav_vel_ned