Ros2 foxy RTK please

[uicuic]

I want to run RTK in ros2 foxy with Ublox ZED-F9P. Is there a guide or package that I can use RTK in ros2?

[uicuic]

I want to run RTK in ros2 foxy with Ublox ZED-F9P. Is there a guide or package that I can use RTK in ros2? I try to these pakages.

https://github.com/KumarRobotics/ublox https://github.com/leighleighleigh/ublox_dgnss https://github.com/sibalzer/ublox-foxy-RTCM-correction-

I publish RTCM massages with ros2 ntrip pakage and I checked Ublox gps pakage subscribe RTCM message with rqt_graph. but It failed

[fcladera]

Are you getting corrections with ntrip? Can you rostopic echo those?

You probably have an issue with your topic names

[uicuic]

I used https://github.com/Road-Balance/ntrip_ros2 to publish RTCM massages and https://github.com/sibalzer/ublox-foxy-RTCM-correction- to subscribe RTCM massages because I can't found subscriber for RTCM massages in this pakage's foxy-devel branch. I changed topic names so I was able to see ublox_gps node subscribe RTCM massages.

I have no idea how can I run RTK in this pakage. If you know other ntirp pakage that mach with this pakage or guidline for enabling me to write RTK, please let me know. thanks.

[olvdhrm]

@uicuic Is it possible to build and run the ros2 branch instead?

I managed to run this package with a ZED F9P in ROS2, however in the Humble distribution with the ros2 branch. It is able to subscribe to an /rtcm topic where I publish RTCM correction messages from an NTRIP client (https://github.com/LORD-MicroStrain/ntrip_client.git , ros2 branch as well). The only problem with these 2 packages combined is that I needed a /fix to /nmea parses as I was not able to obtain raw /nmea sentence from this package's ros2 branch.

You can find it here if you'd like to try the configuration: https://github.com/olvdhrm/RTK_GPS_NTRIP.git

Hope this helps!