Table of Contents

• Trimble Driver ROS
• ROS version compatibility
• Product compatibility
• Usage
• Node Documentation
  • LvxClientNode
    • Parameters
    • Topics
      • Standard Topics
      • GSOF Topics
    • Services
• Disclaimer

Trimble Driver ROS

This package allows parsing of a subset of Trimble’s General Serial Output Format and converting the data to the Robot Operating System format.

Product compatibility

The trimble_driver_ros packages supports Trimble GSOF. While the nodes and libraries provided in the package may work with a variety of products they have only been tested with a subset of them, namely:

• Trimble Applanix: Airborne (APX), Land (POS LVX), AP+ Air, AP+ Land products
• Trimble OEM Products: BDXXX[-INS] and BXXXX[-INS]

Other Trimble products supporting GSOF output may also be compatible.

Usage

Product configuration prerequisite

Before you launch, you must enable GSOF output on your product.

1. Access your device’s web interface by entering its IP address into your web browser.
2. In the left hand side menu open the left hand side menu IO Configuration > Port Summary.
3. Click on one of the TCP/IP ports (e.g. 5017).
4. Select GSOF in the second drop down menu.
5. Set the frequency of the required GSOF messages.
   • For Inertial Navigation Systems, we typically at least enable
     • #49 INS Full Navigation Info
     • #50 INS RMS Info
   • For GNSS Receiver-only systems, we typically at least enable
     • #1 Position Time Info
     • #2 Lat Long Height
     • #12 Position Sigma Info
6. Click ok to save your settings

Back at the IO Configuration > Port Summary page, you should see your port with the word “GSOF” in the output column. Once you start the node, you should see the port’s row turn green to indicate a connection is active.

Building

Building can be done through the typical ROS workflow of using rosdep and colcon.

1. Source your ROS environment

   source /opt/ros/jazzy/setup.bash
   

1. Clone this repository into your colcon workspace

   cd ~/colcon_ws/src
   git clone ...
   

[Optional] ownload the test files to run the unit tests.

   git lfs pull
   

1. Install dependencies through rosdep

   apt update
   rosdep init
   rosdep update
   rosdep install --from-paths src -i -r -y
   

1. Build

   colcon build --symlink-install --mixin release
   

1. [Optional] Run unit tests

   colcon test --event-handlers console_direct+
   

Running

First edit the gsof_client_params.yaml file to fill in the IP address and GSOF port of your device and then source your workspace.

source ~/colcon_ws/install/setup.bash

ros2 launch

Launch the gsof client node using

ros2 launch trimble_driver gsof_client.py

ros2 run

Alternatively you can run the node directly while specifying the parameters at the command line.

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