gnss_info package from gnss-info repo

gnss_info gnss_info_msgs gnsstk_ros

Package Summary

Tags No category tags.
Version 1.0.2
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ctu-vras/gnss-info.git
VCS Type git
VCS Version master
Last Updated 2024-02-27
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Information about GNSS satellites and their constellations.

Additional Links

No additional links.

Maintainers

  • Martin Pecka

Authors

  • Martin Pecka

gnss_info

Information about GNSS satellites and their constellations.

Provided C++ libraries

  • libsatellite_metadata.so / igs_satellite_metadata.h: General information about satellites downloaded from IGS.
  • liborbital_data.so / orbital_data_manager.h: Library that manages downloads of almanac/ephemeris data to support computing satellite orbits. It can also generate a sky view from given place and time.

Nodes

publish_all_satellites

An example node using IGSSatelliteMetadata to construct a list of all GNSS satellites that existed in a given time instant.

Published topics

  • satellites (gnss_info_msgs/SatellitesList, latched): The list of satellites.

Parameters

  • ~time (float, defaults to ros::Time::now() ): The reference time for which satellites should be looked up.
  • ~only_active (bool, default true): Return only satellites active at the reference time.
  • ~only_constellations (list of string): If nonempty, limits the published satellites to only those belonging to the listed constellations.
  • ~only_signals (list of string): If nonempty, limits the published satellites to only those transmitting at least one of the listed signals.

publish_sky_view

An example node using OrbitalDataManager with EthzSatdbProvider to get approximate locations of satellites.

Published topics

  • satellites_positions (gnss_info_msgs/SatellitesPositions, latched): ECEF positions of all satellites from satellites topic for which orbital data are available.
  • sky_view (gnss_info_msgs/SkyView, latched): Sky view of all satellites from satellites topic which are visible from the last position received on position topic.

Subscribed topics

  • satellites (gnss_info_msgs/SatellitesList): The list of satellites.
  • position (geographic_msgs/GeoPoint): Reference position for the sky view.

Parameters

  • ~elevation_mask_deg (float, default 5.0°): Minimum elevation of satellites to be considered in the sky view.
  • ~refresh_rate (double, default 0.1 Hz): Rate at which updates of the positions should be published and recomputed.

sky_plot

A node turning gnss_info_msgs/SkyView into a plot of satellites.

Published topics

  • sky_plot (sensor_msgs/Image): The sky plot.

Subscribed topics

  • satellites (gnss_info_msgs/SatellitesList): The list of satellites.
  • sky_view (gnss_info_msgs/SkyView): Sky view of some satellites.

Parameters

  • ~plot_color (str, default "white"): Background color of the plot. Anything that matplotlib reads (e.g. #ABCDEF00).
  • ~show_legend (bool, default True): Whether to show legend in the plot.
  • ~show_labels (bool, default True): Whether to show labels of the individual satellites.
  • ~show_title (bool, default True): Whether to show title with plot time and reference location.
  • ~show_elevation_mask (bool, default True): Whether to show a greyed-out area in masked parts of the plot.
  • ~width (int, default 840): Width of the plot in px.
  • ~height (int, default 720): Height of the plot in px.
  • ~dpi (float, default 120.0): DPI of the plot.
  • ~only_constellations (str or list[str], default ""): Either a comma-separated list or a list of string defining which constellations to plot. If empty, everything is plotted.

Possible improvements:

CHANGELOG

Changelog for package gnss_info

1.0.2 (2024-02-27)

  • Removed catkin_lint buildfarm hacks.
  • Do not overwrite test data.
  • Fixed CMake compatibility.
  • Contributors: Martin Pecka

1.0.1 (2023-11-14)

  • Added support for plotting GPSFix messages.
  • Added tests.
  • Refactored out NavLibraryOrbitalDataProvider.
  • Extracted CacheIndex class.
  • Extracted cache validity checking.
  • Switched to std::filesystem.
  • Extracted common functionality.
  • Add computation of ECEF position covariance.
  • Refactor out gnsstk_ros package.
  • Added sky view and sky plot publishers.
  • Initial commit
  • Contributors: Martin Pecka

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

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Plugins

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