Awesome
gnss_comm
Authors/Maintainers: CAO Shaozu (shaozu.cao AT gmail.com)
The gnss_comm package contains basic definitions and utility functions for GNSS raw measurement processing.
1. Prerequisites
1.1 C++11 Compiler
This package requires some features of C++11.
1.2 ROS
This package is developed under ROS Kinetic environment.
1.3 Eigen
Our code uses Eigen 3.3.3 for matrix manipulation. After downloading and unzipping the Eigen source code package, you may install it with the following commands:
cd eigen-3.3.3/
mkdir build
cd build
cmake ..
sudo make install
1.4 Glog
We use google's glog library for message output. If you are using Ubuntu, install it by:
sudo apt-get install libgoogle-glog-dev
If you are on other OS or just want to build it from source, please follow these instructions to install it.
2. Build gnss_comm library
Clone the repository to your catkin workspace (for example ~/catkin_ws/
):
cd ~/catkin_ws/src/
git clone https://github.com/HKUST-Aerial-Robotics/gnss_comm.git
Then build the package with:
cd ~/catkin_ws/
catkin_make
source ~/catkin_ws/devel/setup.bash
If you encounter any problem during the building of gnss_comm, try with docker in the next section.
3. <a name="docker_section"></a>Docker Support
To simplify the building process, we add docker in our code. Docker is like a sandbox so it can isolate our code from your local environment. To run with docker, first make sure ros and docker are installed on your machine. Then add your account to docker
group by sudo usermod -aG docker $USER
. Relaunch the terminal or logout and re-login if you get Permission denied
error, type:
cd ~/catkin_ws/src/gnss_comm/docker
make build
The docker image gnss_comm:latest
should be successfully built after a while. Then you can check all available docker images in your local machine by docker image ls
command.
4. Acknowledgements
Many of the definitions and utility functions in this package are adapted from RTKLIB.
5. License
The source code is released under GPLv3 license.