ntrip_ros

NTRIP client, imports RTCM streams to ROS topic

This was forked from github.com/tilk/ntrip_ros

The CORS correction server that I am using does not have the /n/r characters. So I parsed out individual messages and published each one on the /rtcm ROS topic. It would crash with IncompleteRead error. I added patch at top of file. But the connection had closed and it would crash again. I ended up detecting zero length data and closing and reopening the data stream. It continues on without a glitch.

You can generate the require $GPGGA message at this site. https://www.nmeagen.org/ Set a point near where you want to run and click "Generate NMEA file". Cut and paste the $GPGGA message into the launch file.

I intend to use it with https://github.com/ros-agriculture/ublox_f9p

It may also require this package: https://github.com/tilk/rtcm_msgs

A similar NTRIP client (may be better than mine) is here: https://github.com/dayjaby/ntrip_ros

RTK2go.com Base Stations

• Near Splisby - ARL-RTK - Latitude: 53.18 Longitude: 0.03
• Near Market Rasen - young_f9p - Latitude: 53.43 Longitude: -0.4
• Near Bawtry - ER_Pollybell_1 - Latitude: 53.43 Longitude: -0.91
• Near Ely - CresswellFarm - Latitude: 52.4 Longitude: 0.28
• Near Norwich - NR152QB - Latitude: 52.5 Longitude: 1.25

Connect to rtk2go.com:2101, mount name, user account = email address, password = none

Septentrio GPS Config Files

Upload / dowload config files using the Septentrio browser interface under Admin > Configurations

• Use as a rover on a robot using RTk corrections from RTK2go - AsteRx4_3057797 use as a rover with RTK corrections 2022-07-11-130119
• Use as a RTK base station publishing RTK correctin data - AsteRx4_3057797 use as RTK base station 2022-07-11-125145

How to setup Septentrio GPS as a base station

https://customersupport.septentrio.com/s/article/How-to-set-up-an-internal-NTRIP-caster-on-a-Septentrio-receiver

• Log into the web broweser settings page (just enter the ip address in a browser)
• GNSS > Position - change from Rover to Static

• Communication > NTRIP Caster - New mount point - edit mount point

• In edit mount point click Configure Output - Change Enable Local Server to On

• Corrections > Corrections Output - Click New RTCM3 output - NTRIP server - NTR2: NTRIP to lcas|Internal caster (lcas = name of mount point)

• Corrections > NTRIP - New NTRIP server

To use correction data host is server name or Ip address port 2101 and caster name.