The global navigation satellite system (GNSS) constitutes an effective and affordable solution to the outdoor positioning problem. When combined with precise positioning techniques, such as the real time kinematic (RTK), centimeter-level positioning accuracy becomes a reality. Such performance is suitable for a whole new range of demanding applications, including high-accuracy field robotics operations. The RTKRCV, part of the RTKLIB package, is one of the most popular open-source solutions for real-time GNSS precise positioning. Yet the lack of integration with the robot operating system (ROS), constitutes a limitation on its adoption by the robotics community. This article addresses this limitation, reporting a new implementation which brings the RTKRCV capabilities into ROS. New features, including ROS publishing and control over a ROS service, were introduced seamlessly, to ensure full compatibility with all original options. Additionally, a new observation synchronization scheme improves solution consistency, particularly relevant for the moving-baseline positioning mode. Real application examples are presented to demonstrate the advantages of our rtkrcv_ros package. For community benefit, the software was released as an open-source package.
[1]
Morgan Quigley,et al.
ROS: an open-source Robot Operating System
,
2009,
ICRA 2009.
[2]
Otmar Loffeld,et al.
A MATLAB toolbox for attitude determination with GPS multi-antenna systems
,
2009
.
[3]
Tomoji Takasu,et al.
Development of the low-cost RTK-GPS receiver with an open source program package RTKLIB
,
2009
.
[4]
Gang Lu,et al.
Development of a GPS multi-antenna system for attitude determination
,
1995
.
[5]
Kenneth Gade,et al.
The Seven Ways to Find Heading
,
2016
.
[6]
Bruno Matias,et al.
ίVAMOS! Underwater Mining Machine Navigation System
,
2018,
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).