nmea_tcpclient_driver

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Node Description

Connects to a GPS device or NMEA server via TCP client and receives NMEA sentences, then publishes GPS fix, velocity, heading, and time reference information. This node actively connects to a remote TCP server.

Publishers

• /fix (sensor_msgs/NavSatFix)

  • GPS position fix including latitude, longitude, altitude, and covariance information

• /vel (geometry_msgs/TwistStamped)

  • Velocity information derived from NMEA sentences (VTG or RMC)

• /heading (geometry_msgs/QuaternionStamped)

  • Heading information as a quaternion (from HDT sentences)

• /time_reference (sensor_msgs/TimeReference)

  • GPS time reference (only published when use_GNSS_time is false)

Parameters

• ip (string, default: “192.168.131.22”)

  • IP address of the GNSS sensor or TCP server to connect to

• port (int, default: 9001)

  • TCP port of the GNSS sensor or TCP server

• buffer_size (int, default: 4096)

  • Size of the receive buffer in bytes

• frame_id (string, default: “gps”)

  • Frame ID for the published messages

• tf_prefix (string, default: “”)

  • TF prefix to be added to the frame_id

• time_ref_source (string, default: “gps”)

  • Source identifier for time reference messages

• useRMC (bool, default: false)

  • Use RMC sentences for position instead of GGA sentences

• use_GNSS_time (bool, default: false)

  • Use GNSS time from the receiver instead of system time for message timestamps

• epe_quality0 (float, default: 1000000.0)

  • Estimated Position Error for quality indicator 0 (no fix)

• epe_quality1 (float, default: 4.0)

  • Estimated Position Error for quality indicator 1 (SPS)

• epe_quality2 (float, default: 0.1)

  • Estimated Position Error for quality indicator 2 (DGPS)

• epe_quality4 (float, default: 0.02)

  • Estimated Position Error for quality indicator 4 (RTK Fix)

• epe_quality5 (float, default: 4.0)

  • Estimated Position Error for quality indicator 5 (RTK Float)

• epe_quality9 (float, default: 3.0)

  • Estimated Position Error for quality indicator 9 (WAAS)

Example

ros2 run nmea_navsat_driver nmea_tcpclient_driver --ros-args -p ip:=192.168.1.100 -p port:=9001