Some ROS packets usefull to the automatization of the zodiac. For now, there is just one packet which contains 2 nodes :
- localisation, which listens to fix messages from a GPS node and publishes a position,
- pololu, which listends to cmd messages and modify the position of a servomotor connected to a Pololu Maestro.
The GPS node is nmea_navsat_driver, and you need to install it from source in order to parse correctly the NMEA trames sent by a RTK GPS. You can send the RTK correction with str2str from RTKLIB with a command like this one :
./str2str -in ntrip://<user>:<password>@<address>:<port>/<mountpoint> -out serial://ttyACM0 -n 1000 -p <lat> <lon> <hgt>