This repository contains (python) ROS drivers, tools, launch files, and wikis about how to use Piksi Real Time Kinematic (RTK) GPS device on MAVs (or more in general on any moving robot). There are two different driver versions: one for Piksi V2 and one for Piksi Multi.
Check the Wiki for instructions on how to get started with Piksi RTK GPS receiver.
The main advantage of these ROS drivers is supporting a two link communication for GPS corrections: Xbee and Wifi (see Correction Over WiFi for more info).
- init_rovio_npose0 : initialize Rovio to use external GPS pose measurements, when built with NPOSE=0
- mav_rtk_gui : handy Graphical User Interfaces to check the status of RTK fix.
- piksi_rtk_gps: ROS driver for Piksi RTK receiver device, hardware version V2.
- piksi_multi_rtk_gps: ROS driver for Piksi RTK receiver device, hardware version Multi.
- piksi_rtk_msgs: ROS messages used by the driver(s).
- utils: collection of configurations and useful scripts.
RTK fix obtained in average in 3 minutes.
RTK fix obtained in average in 10 minutes.
The source code is released under a BSD 3-Clause license.
Marco Tranzatto, Michael Pantic, Kai Holtmann - ETHZ ASL & RSL - 17 July 2017
Based on the initial work of Daniel Eckert.
Marco Tranzatto marcot(at)ethz.ch
Please report bugs and request features using the Issue Tracker.