ROS u-blox ZED-F9P Driver

Description

This is a simple driver that converts the NMEA strings provided by the ZED-F9P board to standard ROS messages. Currently, it provides lattitude, longitude, altitude, heading, and speed (along with a diagonal positional covariance matrix).

Supported Sentences

Currently supported NMEA sentence types are:

• GGA
• GST
• VGT

Support for more sentences may be added in the future

Dependencies

• ROS
• PySerial (Python Serial)

Usage

1. Setup your GPS receiver to run on a serial port using uBlox config messages or through u-Center. (Ensure that you enable supported/desired sentences.)
2. Use the config file (config/gps.yaml) to choose your port, baudrate, and timeout. Your timeout should correspond roughly to the configured frequency.
3. Launch the node using roslaunch ros_f9p_driver gps.launch and the driver will begin to output messages on the topics.

• /gps/fix [NavSatFix] : Status, position, and covariance data
• /gps/speed [Float64] : Speed in Km/h
• /gps/heading [Float64] : Heading in degrees from True North