init

LICENSE

@@ -0,0 +1,24 @@
+Copyright (c) 2019, Map IV, Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+* Redistributions of source code must retain the above copyright notice,
+  this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+* Neither the name of the Map IV, Inc. nor the names of its contributors
+  may be used to endorse or promote products derived from this software
+  without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -0,0 +1,74 @@
+# rtklib_ros_bridge
+[![CircleCI](https://circleci.com/gh/MapIV/rtklib_ros_bridge.svg?style=svg&circle-token=b0ded687015c8cd5440cd1436a31890c3a1697c4)](https://circleci.com/gh/MapIV/rtklib_ros_bridge)
+## Overview
+
+rtklib_ros_bridge is a package that outputs the latitude and longitude, satellite reception status, altitude, ecef xyz, ecef velocity vector, and Time of Week (GPS Time) calculated by RTKLIB as ROS messages.
+
+## Install
+
+1) First, download the modified RTKLIB to your home directory.
+
+		cd $HOME  
+		git clone https://github.com/MapIV/RTKLIB.git
+		cd $HOME/RTKLIB     
+		git checkout rtklib_ros_bridge_b34
+
+	[About RTKLIB](http://www.rtklib.com)
+
+2) Build RTKLIB.
+  
+		cd $HOME/RTKLIB/lib/iers/gcc/  
+		make   
+		cd $HOME/RTKLIB/app  
+		make   
+
+3) Change the permissions of the two files.
+ 
+		cd $HOME/RTKLIB/app/rtkrcv/gcc  
+		chmod 755 rtkstart.sh  
+		chmod 755 rtkshut.sh  
+
+4) Next, download and build rtklib_ros_bridge.
+
+		cd $HOME/colcon_ws/src  
+		git clone -b ros2-v0.1.0 https://github.com/MapIV/rtklib_ros_bridge.git  
+		cd ..  
+		colcon build  
+
+## Configuration
+1) Open RTKLIB settings.
+
+		gedit $HOME/RTKLIB/app/rtkrcv/conf/rtklib_ros_bridge_sample.conf
+
+2) Set the serial device on line 10. If you connect using USB, it is OK.
+
+>Line 10:  
+>inpstr1-path =/serial/by-id/usb-u-blox_AG_-_www.u-blox.com_u-blox_GNSS_receiver-if00:9600:8:n:1:off  
+
+※If you know the device number "/dev/ttyACM-" but OK.
+
+3) Next, configure the receiver from ublox application, u-center.The usage of u-center is not described here. Below is an overview of the settings. (Here is how to use a Ublox receiver)  
+
+* Enable UBX message ※Set to output only RAWX and SFRBX
+* Save your settings last.
+
+	[About u-center](https://www.u-blox.com/product/u-center)  
+
+## Usage
+1) Connect the GNSS receiver and start RTKLIB.
+
+		cd $HOME/RTKLIB  
+		bash rtklib_ros_bridge_single.sh  
+
+2) Check the status of RTKLIB. If GPS Time is moving, it is OK. Execute the following command in the terminal of item 3.
+
+		status 0.1  
+
+※If GPS Time is not working, there may be a mistake in the receiver settings or RTKLIB settings.
+
+3) Start rtklib_ros_bridge.
+
+		cd $HOME/colcon_ws/src 
+		source install/setup.bash
+		ros2 launch rtklib_bridge rtklib_bridge.launch.xml
+		

rtklib_bridge/CMakeLists.txt

@@ -0,0 +1,47 @@
+cmake_minimum_required(VERSION 3.5)
+project(rtklib_bridge)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to Cﭞ
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+include_directories(include)
+
+ament_auto_add_executable(rtklib_bridge src/rtklib_bridge.cpp)
+
+
+install(TARGETS rtklib_bridge
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY param launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()
+

rtklib_bridge/include/hgeoid.hpp

@@ -0,0 +1,7247 @@
+static const double th_range[]={0.00,360.00,-90.00,90.00};
+
+static const float geoid[361][181]={{
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+ 33.895f, 32.344f, 30.978f, 28.477f, 27.419f, 25.076f, 22.659f, 20.147f, 17.632f, 15.452f,
+ 13.606f
+},{
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+ 13.606f
+}};
+
+void hgeoid(double llh_pos[3],double *h)
+{
+
+    const double dlon=1.0,dlat=1.0;
+    double a,b,y[4];
+    int i1,i2,j1,j2;
+
+    if (llh_pos[1]<th_range[0]||th_range[1]<llh_pos[1]||llh_pos[0]<th_range[2]||th_range[3]<llh_pos[0]) {
+      *h = 0;
+    }else{
+    a=(int)(llh_pos[1]-th_range[0])/dlon;
+    b=(int)(llh_pos[0]-th_range[2])/dlat;
+    i1=(int)a; a-=i1; i2=i1<360?i1+1:i1;
+    j1=(int)b; b-=j1; j2=j1<180?j1+1:j1;
+    y[0]=geoid[i1][j1];
+    y[1]=geoid[i2][j1];
+    y[2]=geoid[i1][j2];
+    y[3]=geoid[i2][j2];
+    *h = y[0]*(1.0-a)*(1.0-b)+y[1]*a*(1.0-b)+y[2]*(1.0-a)*b+y[3]*a*b;
+    }
+
+
+}

rtklib_bridge/launch/rtklib_bridge.launch.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+  <arg name="param_yaml" default="param.yaml"/>
+
+  <node pkg="rtklib_bridge" name="rtklib_bridge" exec="rtklib_bridge" output="screen">
+    <param from="$(find-pkg-share rtklib_bridge)/param/$(var param_yaml)"/>
+  </node>
+
+</launch>

rtklib_bridge/package.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rtklib_bridge</name>
+  <version>0.0.0</version>
+  <description>The rtklib_bridge package</description>
+  <maintainer email="megken@todo.todo">megken</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  
+  <build_depend>rclcpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>rtklib_msgs</build_depend>
+  <build_depend>common_interfaces</build_depend>
+  
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>rtklib_msgs</exec_depend>
+  <exec_depend>common_interfaces</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rtklib_bridge/param/param.yaml

@@ -0,0 +1,5 @@
+rtklib_bridge:
+    ros__parameters:
+        ip_adress: "127.0.0.1"
+        port: 61111
+        altitude_estimate: true

rtklib_bridge/src/rtklib_bridge.cpp

@@ -0,0 +1,276 @@
+// Copyright (c) 2019, Map IV, Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of the Map IV, Inc. nor the names of its contributors
+//   may be used to endorse or promote products derived from this software
+//   without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+/*
+ * rtklib_bridge.cpp
+ * Program for connecting with RTKLIB
+ * Author MapIV Sekino
+ * Ver 0.00 
+ */
+
+#include "rclcpp/rclcpp.hpp"
+#include "rtklib_msgs/msg/rtklib_nav.hpp"
+#include "sensor_msgs/msg/nav_sat_fix.hpp"
+#include "hgeoid.hpp"
+#include <stdio.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+#include <math.h>
+#include <string>
+#include <vector>
+
+#include "rclcpp/time.hpp"
+#include <chrono>
+#include "rclcpp/clock.hpp"
+
+#include "rclcpp/parameter.hpp"
+#include "rclcpp/node.hpp"
+
+int main(int argc, char** argv)
+{
+  rclcpp::init(argc, argv);
+  auto node = rclcpp::Node::make_shared("rtklib_bridge");
+  auto pub1 = node->create_publisher<rtklib_msgs::msg::RtklibNav>("rtklib_nav", 1);
+  auto pub2 = node->create_publisher<sensor_msgs::msg::NavSatFix>("rtklib/fix", 1000);
+
+  rtklib_msgs::msg::RtklibNav rtklib_nav;
+  sensor_msgs::msg::NavSatFix fix;
+  std::string node_name = "rtklib_bridge";
+
+  rclcpp::Clock ros_clock(RCL_ROS_TIME);
+
+  std::string ip_adress = "127.0.0.1";
+  int port = 61111;
+  bool altitude_estimate = true;
+
+  node->declare_parameter("ip_adress" , "127.0.0.1");
+  node->declare_parameter("port" , 61111);
+  node->declare_parameter("altitude_estimate" , true);
+
+  ip_adress = node->get_parameter("ip_adress").as_string();
+  port = node->get_parameter("port").as_int();
+  altitude_estimate = node->get_parameter("altitude_estimate").as_bool();
+
+  std::cout << "ip_adress " << ip_adress << std::endl;
+  std::cout << "port " << port << std::endl;
+  std::cout << "altitude_estimate " << altitude_estimate << std::endl;
+
+  struct sockaddr_in server;
+
+  int sock;
+  char recv_buf[256];
+  int recv_packet_size;
+
+  sock = socket(AF_INET, SOCK_STREAM, 0);
+
+  server.sin_family = AF_INET;
+  server.sin_port = htons(port);
+  server.sin_addr.s_addr = inet_addr(ip_adress.c_str());
+
+  connect(sock, (struct sockaddr*)&server, sizeof(server));
+
+  char data_buf[256];
+  int i;
+  memset(data_buf, 0, sizeof(data_buf));
+
+  while (rclcpp::ok())
+  {
+    rclcpp::spin_some(node);
+
+    memset(recv_buf, 0, sizeof(recv_buf));
+    recv_packet_size = recv(sock, recv_buf, sizeof(recv_buf), 0);
+
+    // RCLCPP_INFO(rclcpp::get_logger(node_name), "RAWdata:%s",recv_buf);
+
+    if (recv_packet_size > 0)
+    {
+
+      rtklib_nav.header.stamp = rtklib_nav.status.header.stamp = fix.header.stamp = ros_clock.now();
+      rtklib_nav.header.frame_id = rtklib_nav.status.header.frame_id = fix.header.frame_id = "gps";
+
+      std::vector<int> LF_index;
+      std::vector<int>::size_type index_size = 18;
+      // recv_buf has 18 lines when correctly received from RTKLIB.
+
+      for (i = 0; i < recv_packet_size; i++)
+      {
+        if (recv_buf[i] == 0x0a)
+        {  // 0x0a = LF
+          LF_index.push_back(i);
+          //  RCLCPP_INFO(rclcpp::get_logger(node_name), "%d",i);
+        }
+      }
+
+      if (LF_index.size() < index_size){
+        RCLCPP_WARN(rclcpp::get_logger(node_name), "Received data is missing.");
+        continue;
+      }
+
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[5], 11);
+      rtklib_nav.tow = atof(data_buf) * 1000;  // unit[ms]
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "tow=%d",rtklib_nav.tow);
+
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[LF_index[1]], LF_index[1]);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "data_buf=%s",data_buf);
+      rtklib_nav.ecef_pos.x = atof(data_buf);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "ecef_pos_x=%10.10lf",rtklib_nav.ecef_pos.x);
+
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[LF_index[2]], LF_index[2]);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "data_buf=%s",data_buf);
+      rtklib_nav.ecef_pos.y = atof(data_buf);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "ecef_pos_y=%10.10lf",rtklib_nav.ecef_pos.y);
+
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[LF_index[3]], LF_index[3]);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "data_buf=%s",data_buf);
+      rtklib_nav.ecef_pos.z = atof(data_buf);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "ecef_pos_z=%10.10lf",rtklib_nav.ecef_pos.z);
+
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[LF_index[4]], LF_index[4]);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "data_buf=%s",data_buf);
+      rtklib_nav.ecef_vel.x = atof(data_buf);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "ecef_vel_x=%10.10lf",rtklib_nav.ecef_vel.x);
+
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[LF_index[5]], LF_index[5]);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "data_buf=%s",data_buf);
+      rtklib_nav.ecef_vel.y = atof(data_buf);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "ecef_vel_y=%10.10lf",rtklib_nav.ecef_vel.y);
+
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[LF_index[6]], LF_index[6]);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "data_buf=%s",data_buf);
+      rtklib_nav.ecef_vel.z = atof(data_buf);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "ecef_vel_z=%10.10lf",rtklib_nav.ecef_vel.z);
+
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[LF_index[7]], LF_index[7]);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "data_buf=%s",data_buf);
+      rtklib_nav.status.latitude = fix.latitude = atof(data_buf);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "latitude=%10.10lf",rtklib_nav.status.latitude);
+
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[LF_index[8]], LF_index[8]);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "data_buf=%s",data_buf);
+      rtklib_nav.status.longitude = fix.longitude = atof(data_buf);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "longitude=%10.10lf",rtklib_nav.status.longitude);
+
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[LF_index[9]], LF_index[9]);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "data_buf=%s",data_buf);
+      rtklib_nav.status.altitude = fix.altitude = atof(data_buf);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "altitude=%10.10lf",rtklib_nav.status.altitude);
+
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[LF_index[10]], LF_index[10]);
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "data_buf=%s",data_buf);
+      if(atoi(data_buf) == 1)
+      {
+        rtklib_nav.status.status.status = fix.status.status = 0;
+      }
+      else
+      {
+        rtklib_nav.status.status.status = fix.status.status = -1;
+      }
+
+      double llh[3] , height;
+
+      if(altitude_estimate == true)
+      {
+        llh[0] = fix.latitude;
+        llh[1] = fix.longitude;
+        llh[2] = fix.altitude;
+        hgeoid(llh ,  &height);
+        rtklib_nav.status.altitude = fix.altitude = llh[2] - height;
+
+      }
+
+      rtklib_nav.status.status.service = fix.status.service = 1;  // Currently fixed value
+
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[LF_index[11]], LF_index[11]);
+      rtklib_nav.status.position_covariance[0] = fix.position_covariance[0] = atof(data_buf);
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[LF_index[12]], LF_index[12]);
+      rtklib_nav.status.position_covariance[4] = fix.position_covariance[4] = atof(data_buf);
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[LF_index[13]], LF_index[13]);
+      rtklib_nav.status.position_covariance[8] = fix.position_covariance[8] = atof(data_buf);
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[LF_index[14]], LF_index[14]);
+      rtklib_nav.status.position_covariance[1] = fix.position_covariance[1] = atof(data_buf);
+      rtklib_nav.status.position_covariance[3] = fix.position_covariance[3] = atof(data_buf);
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[LF_index[15]], LF_index[15]);
+      rtklib_nav.status.position_covariance[5] = fix.position_covariance[5] = atof(data_buf);
+      rtklib_nav.status.position_covariance[7] = fix.position_covariance[7] = atof(data_buf);
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[LF_index[16]], LF_index[16]);
+      rtklib_nav.status.position_covariance[2] = fix.position_covariance[2] = atof(data_buf);
+      rtklib_nav.status.position_covariance[6] = fix.position_covariance[6] = atof(data_buf);
+      rtklib_nav.status.position_covariance_type = fix.position_covariance_type = 3;
+
+      memset(data_buf, 0, sizeof(data_buf));
+      memcpy(data_buf, &recv_buf[LF_index[17]], sizeof("RTKLIB"));
+      std::string check_packets_str(data_buf);
+      if(check_packets_str.find("RTKLIB") == std::string::npos)
+      {
+        RCLCPP_WARN(rclcpp::get_logger(node_name), "Received packet is corrupted!");
+        continue;
+      }
+
+      // RCLCPP_INFO(rclcpp::get_logger(node_name), "RAWdata:%s",recv_buf);
+
+      pub1->publish(rtklib_nav);
+      pub2->publish(fix);
+
+      printf("GPST:%.3lf(s) latitude:%.9lf(deg)  longitude:%.9lf(deg)  altitude:%.4lf(m)\n" ,
+          double(rtklib_nav.tow/1000.0) , rtklib_nav.status.latitude , rtklib_nav.status.longitude , rtklib_nav.status.altitude);
+
+    }
+    else if (recv_packet_size == 0)
+    {
+      RCLCPP_WARN(rclcpp::get_logger(node_name), "RTKLIB has been disconnected");
+      break;
+    }
+    else
+    {
+      RCLCPP_WARN(rclcpp::get_logger(node_name), "RTKLIB is not started");
+      break;
+    }
+  }
+
+  close(sock);
+  rclcpp::shutdown();
+
+  return 0;
+}

rtklib_msgs/CMakeLists.txt

@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 3.5)
+project(rtklib_msgs)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to Cﭞ
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/RtklibNav.msg"
+  DEPENDENCIES std_msgs
+  DEPENDENCIES sensor_msgs
+  DEPENDENCIES geometry_msgs
+  DEPENDENCIES builtin_interfaces
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()

rtklib_msgs/msg/RtklibNav.msg

@@ -0,0 +1,5 @@
+std_msgs/Header header
+int64 tow # Time of Week (ms)
+geometry_msgs/Point ecef_pos
+geometry_msgs/Vector3 ecef_vel
+sensor_msgs/NavSatFix status

rtklib_msgs/package.xml

@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rtklib_msgs</name>
+  <version>0.0.0</version>
+  <description>The rtklib_msgs package</description>
+  <maintainer email="megken@todo.todo">megken</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <depend>builtin_interfaces</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>