ublox.launch

<launch>
    <!-- General settings -->
    <arg name="output" default="screen"/>
    <arg name="respawn" default="true"/>
    <arg name="respawn_delay" default="30"/>
    <arg name="clear_params" default="true"/>

    <!-- u-blox position receiver -->
    <arg name="device_position_receiver" default="/dev/ttyACM0"/>
    <arg name="frame_id_position_receiver" default="gnss"/>

    <!-- u-blox moving baseline receiver -->
    <arg name="use_moving_baseline" default="false"/>
    <arg name="device_moving_baseline_receiver" default="/dev/ttyACM1"/>
    <arg name="frame_id_moving_baseline_receiver" default="position_receiver"/>

    <!-- u-blox general -->
    <arg name="param_file_name" doc="name of param file, e.g. rover" default="zed_f9p"/>
    <arg name="param_file_dir" doc="directory to look for $(arg param_file_name).yaml"
         default="$(find ublox_utils)/config"/>

    <!-- NTRIP -->
    <arg name="use_ntrip" default="false"/>
    <arg name="navpvt_topic" doc="The incoming navpvt topic." default="/ublox_position_receiver/navpvt"/>
    <arg name="nmea_topic" doc="The outgoing nmea topic." default="/ntrip_client/nmea"/>

    <arg name="ntrip_host" default="www.swipos.ch" />
    <arg name="ntrip_port" default="2101" />
    <arg name="ntrip_mountpoint" default="MSM_GISGEO_LV95LHN95" />
    <arg name="ntrip_version" default="" />
    <arg name="ntrip_authentificate" default="true" />
    <arg name="ntrip_username" />
    <arg name="ntrip_password" />

    <!-- The ublox position receiver -->
    <node pkg="ublox_gps" type="ublox_gps" name="ublox_position_receiver"
          output="$(arg output)"
          clear_params="$(arg clear_params)"
          respawn="$(arg respawn)"
          respawn_delay="$(arg respawn_delay)">
        <remap from="/rtcm" to="/ublox_position_receiver/rtcm"/>
        <rosparam command="load" file="$(arg param_file_dir)/$(arg param_file_name).yaml"/>
        <param name="device" value="$(arg device_position_receiver)"/>
    </node>

    <!-- The second optional ublox moving baseline receiver -->
    <group if="$(eval arg('use_moving_baseline'))">
        <node pkg="ublox_gps" type="ublox_gps" name="ublox_moving_baseline_receiver"
              output="$(arg output)"
              clear_params="$(arg clear_params)"
              respawn="$(arg respawn)"
              respawn_delay="$(arg respawn_delay)">
            <remap from="/rtcm" to="/ublox_moving_baseline_receiver/rtcm"/>
            <rosparam command="load" file="$(arg param_file_dir)/$(arg param_file_name).yaml"/>
            <param name="device" value="$(arg device_moving_baseline_receiver)"/>
            <param name="publish/nav/heading" value="true"/>
        </node>
    </group>


    <group if="$(eval arg('use_ntrip'))">
    <!-- This node creaetes NMEA $GPGGA messages from u-blox navpvt to send to the NTRIP caster -->
    <node name="ublox2nmea" pkg="ublox_utils" type="ublox2nmea"
          output="$(arg output)"
          clear_params="$(arg clear_params)"
          respawn="$(arg respawn)"
          respawn_delay="$(arg respawn_delay)">
        <remap from="/navpvt" to="$(arg navpvt_topic)"/>
        <remap from="/nmea" to="$(arg nmea_topic)"/>
    </node>

    <!-- This node transforms mavros/rtcm to rtcm/Message -->
    <node name="rtcm_transform" pkg="topic_tools" type="transform" output="screen"
          args="/ntrip_client/rtcm /ublox_position_receiver/rtcm rtcm_msgs/Message 'rtcm_msgs.msg.Message(header=m.header, message=m.data)' --import rtcm_msgs --wait-for-start"/>

    <!-- This node relays the current NMEA $GPGGA position to the NTRIP caster and returns the RTCM corrections -->
    <node name="ntrip_client" pkg="ntrip_client" type="ntrip_ros.py"
          output="$(arg output)"
          clear_params="$(arg clear_params)"
          respawn="$(arg respawn)"
          respawn_delay="$(arg respawn_delay)">
        <param name="host"       value="$(arg ntrip_host)" />
        <param name="port"       value="$(arg ntrip_port)" />
        <param name="mountpoint" value="$(arg ntrip_mountpoint)" />

        <param name="ntrip_version" value="$(arg ntrip_version)" />

        <param name="authenticate" value="$(arg ntrip_authentificate)" />
        <param name="username" value="$(arg ntrip_username)" />
        <param name="password" value="$(arg ntrip_password)" />

        <param name="rtcm_frame_id" value="$(arg frame_id_position_receiver)" />

        <remap from="/rtcm" to="/ntrip_client/rtcm" />
        <remap from="/nmea" to="/ntrip_client/nmea" />
    </node>
    </group>
</launch>