Hi all,
in our company we use the Reach RS as a GNSS receiver on a mobile outdoor vehicle. We started off using the nmea_tcp_driver but soon added more features to it to improve robustness and monitoring capabilities.
We would like to share this ROS driver with everyone who is interested:
As we want to fuse the GNSS position information with other sensor data using robot_localization package it was also especially important for us that we can specify the covariance matrix of the output.
The main features we added compared to nmea_tcp_driver are:
- automatic reconnection behaviour after connection is lost
- use the diagnostics system of ROS to provide status information
- ability to specifiy a covariance matrix for the position (especially useful when fusing sensor data)
We are open to any feedback, also feel free to further improve on this!
Best,
Jacob Seibert (Enway)