ublox-dgnss

This usb based driver is focused on UBLOX Generation 9 UBX messaging, for a DGNSS rover. High precision data is available. A moving base station configuration has been added. This package also supports a fixed base station and moving rover use case.

RTCM messages can be delivered externally. Alternately the ntrip_client_node can be utilised to retrieve RTCM messages from a castor to publish /ntrip_client/rtcm messages which will be received by the ublox_dgnss_node.

Work has started on SPARTN support - basic commands are available to enable it on the device and to confirm that the messages are being used (when delivered to the device).

This driver will only work with later generation ublox devices. Testing and development was performed against a ZED-F9P and a ZED-F9R connected via USB, under Ubuntu 22.04/24.04. The driver uses libusb api 1.0.

This release works with Rolling, Kilted, Jazzy and Humble.

You may need to create a udev rule as follows:

/etc/udev/rules.d/99-ublox-gnss.rules

  #UBLOX ZED-F9
  ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a9", MODE="0666", GROUP="plugdev"

This driver follows the UBX standards used for the ZED-F9P/F9R as documented in the F9P interface description and F9R interface description.

It implements a subset of the specification related to achieving high precision output as a rover. U-center can be used to alter settings. Any configuration parameter changed by this driver, will be applied only in RAM. Upon a restart (hot, cold or warm) or after a hot plug usb attach event, the configuration stored in the driver will be sent to the device.

Start commands

There are multiple ways to start the node. Its been built using composition. An executable is provider. An example follows which turns off NMEA output at startup.

ros2 run ublox_dgnss_node ublox_dgnss_node --ros-args -p CFG_USBOUTPROT_NMEA:=False

Parameters can be set at launch and some examples are provided to launch high precision pos ecef|llh

ros2 launch ublox_dgnss ublox_rover_hpposecef.launch.py

ros2 launch ublox_dgnss ublox_rover_hpposllh.launch.py

Services

Four services are provided to reset odo, cold start, warm start and hot start.

ros2 service call /ublox_dgnss/reset_odo ublox_ubx_interfaces/srv/ResetODO

ros2 service call /ublox_dgnss/cold_start ublox_ubx_interfaces/srv/ColdStart '{reset_type: 1}'

ros2 service call /ublox_dgnss/warm_start ublox_ubx_interfaces/srv/WarmStart '{reset_type: 1}'

ros2 service call /ublox_dgnss/hot_start ublox_ubx_interfaces/srv/HotStart '{reset_type: 1}'

Parameters

Parameter values can be set at any time or passed when the node starts

ros2 param set /ublox_dgnss CFG_RATE_NAV 2

or the current value retrieved

ros2 param get /ublox_dgnss CFG_RATE_NAV

UBX Parameters

The following parameters may be set. Its a subset of the full UBX Gen 9 configuration parameter list.

Values will be as described in the integration manual (without scaling applied). Changing a CFG_MSGOUT_* type parameter to a value >0 will cause the corresponding ublox_ubx_msgs to be published.

CFG_INFMSG_NMEA_USB CFG_INFMSG_UBX_USB CFG_MSGOUT_UBX_NAV_CLOCK_USB CFG_MSGOUT_UBX_NAV_COV_USB CFG_MSGOUT_UBX_NAV_DOP_USB CFG_MSGOUT_UBX_NAV_EOE_USB CFG_MSGOUT_UBX_NAV_HPPOSECEF_USB CFG_MSGOUT_UBX_NAV_HPPOSLLH_USB CFG_MSGOUT_UBX_NAV_ODO_USB CFG_MSGOUT_UBX_NAV_ORB_USB CFG_MSGOUT_UBX_NAV_SAT_USB CFG_MSGOUT_UBX_NAV_SIG_USB CFG_MSGOUT_UBX_NAV_POSECEF_USB CFG_MSGOUT_UBX_NAV_POSLLH_USB CFG_MSGOUT_UBX_NAV_PVT_USB CFG_MSGOUT_UBX_NAV_RELPOSNED_USB CFG_MSGOUT_UBX_NAV_STATUS_USB CFG_MSGOUT_UBX_NAV_TIMEUTC_USB CFG_MSGOUT_UBX_NAV_VELECEF_USB CFG_MSGOUT_UBX_NAV_VELNED_USB CFG_MSGOUT_UBX_RXM_COR_USB CFG_MSGOUT_UBX_RXM_RTCM_USB CFG_MSGOUT_UBX_RXM_MEASX_USB CFG_MSGOUT_UBX_RXM_RAWX_USB CFG_MSGOUT_UBX_RXM_SPARTN_USB CFG_MSGOUT_UBX_MON_COMMS_USB CFG_MSGOUT_UBX_ESF_MEAS_USB CFG_MSGOUT_UBX_ESF_STATUS_USB CFG_MSGOUT_UBX_SEC_SIG_USB

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