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NTRIP RTK

  • The NUC has to be connected to the internet for this to work

  • Clone this repository - https://github.com/fly4future/ntrip_client

  • link/copy it into your workspace/src

  • Call (replace your_workspace with the actual name):

    rosdep install --from-paths ~/your_workspace/src --ignore-src -r -y

  • un-black-list the gps_rtk plugin in mavros plugin config, this should be already done by the system

  • You can check if mavros produces a topic called /uavXX/mavros/gps_rtk/send_rtcm

  • modify the ntrip_client uav.launch file with the credentials of the NTRIP server (basestation) you want to use

  • You should use a basestation which is as close as possible to your actual location

  • Run the ntrip client (roslaunch ntrip_client your_launch_file.launch) in your session

  • Check the node output - verify that there are no errors with the connection

  • In MRS_UAV_Status, you should soon see that you have RTK FLOAT or RTK FIX, which means your config is valid