swiftnav-ros2

ROS 2 driver for Swift Navigation's GNSS/INS receivers and Starling Positioning Engine software.

Features
ROS Topics
Building Driver
Launching Driver
Driver Configuration
GNSS Receiver Configuration
Technical Support

Features

Designed for ROS 2 Humble but also works with ROS 2 Foxy
Developed and tested on Ubuntu 22.04 (ROS 2 Humble) and Ubuntu 20.04 (ROS 2 Foxy) platforms
Supports Swift Navigation receivers and Starling Positioning Engine in Swift Binary Protocol (SBP)
TCP Client and Serial communication interfaces
SBP file playback
SBP data logging
Publishes ROS 2 standard and Swift Navigation proprietary topics
Configurable time stamping
Written in C++

ROS Topics

The driver receives Swift binary (SBP) messages (see GNSS Receiver Configuration for setting up the receiver) and publishes the following ROS topics:

GpsFix
NavSatFix
TwistWithCovarianceStamped
Baseline (proprietary)
TimeReference
Imu

Topic publication details are described below.

GpsFix

gps_msgs/msg/GPSFix

SBP Messages Used

UTC TIME (ID: 259, required/optional) - UTC time of reported position. Required when timestamp_source_gnss is True.
GPS TIME (ID: 258, required) - GPS time of reported position.
POS LLH COV (ID: 529, required) - GNSS position with covariance.
VEL NED COV (ID: 530, required) - GNSS velocity with covariance.
ORIENT EULER (ID: 545, optional) - GNSS/INS orientation with estimated errors.
DOPS (ID: 520, optional) - GNSS DOP (Dilution Of Precision) data.

Topic Publication

Topic publication depends on timestamp_source_gnss setting flag in the configuration file:

True: The topic is published upon receiving SBP UTC TIME, GPS TIME, POS LLH COV, VEL NED COV and, if present, ORIENT EULER messages with the same TOW. The topic timestamp contains the UTC time reported by the GNSS receiver. If the UTC time is not available the current platform time is reported.
False: The topic is published upon receiving SBP GPS TIME, POS LLH COV, VEL NED COV and, if present, ORIENT EULER messages with the same TOW. The topic timestamp contains the current platform time.

Topic Fields

ROS2 Message Field	SBP Message Data Source	Notes
`header.stamp`	`UTC TIME`	See Topic Publication for time stamping details
`header.frame_id`	--	Text from `frame_name` field in the `settings.yaml` configuration file
`status.satellites_used`	`POS LLH COV`
`status.satellite_used_prn[]`	--	Not populated
`status.satellites_visible` `status.satellite_visible_prn[]` `status.satellite_visible_z[]` `status.satellite_visible_azimuth[]` `status.satellite_visible_snr[]`	--	Not populated
`status.status`	`POS LLH COV`	Dead Reckoning (DR) position is reported as `STATUS_FIX` (0)
`status.motion_source`	`VEL NED COV`
`status.orientation_source`	`POS LLH COV`
`status.position_source`	`POS LLH COV`
`latitude` `longitude` `altitude`	`POS LLH COV`	Zeros when the fix is invalid. If position is valid altitude is always present (i.e. never NaN).
`track`	`VEL NED COV` or `ORIENT EULER`	If `ORIENT EULER` message is present and `yaw` data valid, reports `yaw`. If `yaw` is invalid reports computed Course Over Ground from `VEL NED COV` message. `VEL NED COV` updates `track` only if horizontal speed is above the `track_update_min_speed_mps` setting in the settings file. When the track becomes invalid the last valid track is reported.
`speed`	`POS LLH COV`	Computed horizontal (2D) speed
`climb`	`POS LLH COV`
`pitch` `roll`	`ORIENT EULER`
`dip`	--	Not populated
`time`	`GPS TIME`	GPS time in seconds since 1980-01-06
`gdop` `pdop` `hdop` `vdop` `tdop`	`DOPS`	DOPs are published if the most recent SBP `DOPS` message is not older than 2 seconds.
`err` `err_horz` `err_vert`	`POS LLH COV`
`err_track`	`VEL NED COV` or `ORIENT EULER`
`err_speed` `err_climb`	`VEL NED COV`
`err_time`	--	Not populated
`err_pitch` `err_roll`	`ORIENT EULER`
`err_dip`	--	Not populated
`position_covariance` `position_covariance_type`	`POS LLH COV`	Covariance, if valid, is always `TYPE_KNOWN` (full matrix).

NavSatFix

sensor_msgs/msg/NavSatFix

SBP Messages Used

UTC TIME (ID: 259, required/optional) - UTC time of reported position. Required when timestamp_source_gnss is True.
POS LLH COV (ID: 529, required) - GNSS position data with covariance.
MEASUREMENT STATE (ID: 97, optional) - GNSS constellations data.

Topic Publication

Topic publication depends on timestamp_source_gnss setting flag in the configuration file:

True: the topic is published upon receiving SBP UTC TIME and POS LLH COV messages with the same TOW. The topic timestamp contains the UTC time reported by the GNSS receiver. If the UTC time is not available the current platform time is reported.
False: the topic is published upon receiving SBP POS LLH COV message. The topic timestamp contains the current platform time.

Topic Fields

ROS2 Message Field	SBP Message Data Source	Notes
`header.stamp`	`UTC TIME`	See Topic Publication for time stamping details
`header.frame_id`	--	Text from `frame_name` field in the `settings.yaml` configuration file
`status.status`	`POS LLH COV`	Dead Reckoning (DR) position is reported as `STATUS_FIX` (0)
`status.service`	`MEASUREMENT STATE`	GNSS constellations from the last `MEASUREMENT STATE` message. Reports zero when message is not present.
`latitude` `longitude` `altitude` `position_covariance` `position_covariance_type`	`POS LLH COV`	Zeros when the fix is invalid. If position is valid altitude is always present (i.e. never NaN). Covariance, if valid, is always `TYPE_KNOWN` (full matrix).

TwistWithCovarianceStamped

geometry_msgs/msg/TwistWithCovarianceStamped

SBP Messages Used

UTC TIME (ID: 259, required/optional) - UTC time of reported velocity. Required when timestamp_source_gnss is True.
VEL NED COV (ID: 530, required) - GNSS velocity data with covariance.

Topic Publication

Topic publication depends on timestamp_source_gnss setting flag in the configuration file:

True: the topic is published upon receiving SBP UTC TIME and VEL NED COV messages with the same TOW. The topic timestamp contains the UTC time reported by the GNSS receiver. If the UTC time is not available the current platform time is reported.
False: the topic is published upon receiving SBP VEL NED COV message. The topic timestamp contains the current platform time.

Topic Fields

ROS2 Message Field	SBP Message Data Source	Notes
`header.stamp`	`UTC TIME`	See Topic Publication for time stamping details
`header.frame_id`	--	Text from `frame_name` field in the `settings.yaml` configuration file
`linear.x` `linear.y` `linear.z`	`VEL NED COV`	Conversion from NED frame: `x` = `east` `y` = `north` `z` = `-down` Zeros when velocity is invalid.
`angular.x` `angular.y` `angular.z`	--	Not populated. Always zero.
`covariance`	`VEL NED COV`	If velocity is valid, linear velocity covariance is full matrix. `covariance[0]` is set to -1 when linear velocity is invalid. `covariance[21]` is always -1.

Baseline

swiftnav-ros2/msg/Baseline Proprietary message

SBP Messages Used

UTC TIME (ID: 259, required/optional) - UTC time of reported baseline. Required when timestamp_source_gnss is True.
BASELINE NED (ID: 524, required) - RTK baseline NED vector.

Topic Publication

Topic publication depends on timestamp_source_gnss setting flag in the configuration file:

True: the topic is published upon receiving SBP UTC TIME and BASELINE NED messages with the same TOW. The topic timestamp contains the UTC time reported by the GNSS receiver. If the UTC time is not available the current platform time is reported.
False: the topic is published upon receiving SBP BASELINE NED message. The topic timestamp contains the current platform time.

Topic Fields

ROS2 Message Field	SBP Message Data Source	Notes
`header.stamp`	`UTC TIME`	See Topic Publication for time stamping details
`header.frame_id`	--	Text from `frame_name` field in the `settings.yaml` configuration file
`mode`	`BASELINE NED`	Solution mode: `0` - Invalid `3` - Float RTK `4` - Fixed RTK
`satellites_used`	`BASELINE NED`	Number of satellites used in the solution
`baseline_n_m` `baseline_e_m` `baseline_d_m`	`BASELINE NED`	Baseline NED vectors in [m]. Zeros when invalid. Vectors origin is at the base location.
`baseline_err_h_m`	`BASELINE NED`	Estimated (95%) horizontal error of baseline in [m]. Zero when invalid.
`baseline_err_v_m`	`BASELINE NED`	Estimated (95%) vertical error of baseline in [m]. Zero when invalid.
`baseline_length_m`	`BASELINE NED`	Computed 3D baseline length. Zero when invalid.
`baseline_length_h_m`	`BASELINE NED`	Computed horizontal baseline length. Zero when invalid.
`baseline_orientation_valid`	`BASELINE NED`	`True` when baseline orientation (dir and dip) is valid. `False` when invalid.
`baseline_dir_deg`	`BASELINE NED`	Computed horizontal angle (bearing/heading) from base to rover in [degrees]. Valid only in RTK fixed mode. Range [0..360) from true north. Zero when invalid.
`baseline_dir_err_deg`	`BASELINE NED`	Estimated (95%) error of `baseline_dir_deg` in [degrees]. Range [0..180]. Zero when invalid.
`baseline_dip_deg`	`BASELINE NED`	Computed vertical angle from base to rover in [degrees]. Valid only in RTK fixed mode. Range [-90..90]. Zero when invalid.
`baseline_dip_err_deg`	`BASELINE NED`	Estimated (95%) error of `baseline_dip_deg` in [degrees]. Range [0..90]. Zero when invalid.

TimeReference

sensor_msgs/msg/TimeReference

SBP Messages Used

UTC TIME (ID: 259, required/optional) - UTC time. Required when timestamp_source_gnss is True.
GPS TIME (ID: 258, required) - GPS time.

Topic Publication

Topic publication depends on timestamp_source_gnss setting flag in the configuration file:

True: the topic is published upon receiving SBP UTC TIME and GPS TIME messages with the same TOW. The topic timestamp contains the UTC time reported by the GNSS receiver. If the UTC time is not available the current platform time is reported.
False: the topic is published upon receiving SBP GPS TIME message. The topic timestamp contains the current platform time.

Topic Fields

ROS2 Message Field	SBP Message Data Source	Notes
`header.stamp`	`UTC TIME`	See Topic Publication for time stamping details
`header.frame_id`	--	Not used
`time_ref`	`GPS TIME`	GPS time in seconds since 1980-01-06. `sec` value is set to -1 if the GPS time is not available.
`source`	--	Text from `frame_name` field in the `settings.yaml` configuration file

Imu

sensor_msgs/msg/Imu

SBP Messages Used

UTC TIME (ID: 259, required/optional) - UTC time. Required when timestamp_source_gnss is True.
GPS TIME (ID: 258, required) - GPS time
GNSS TIME OFFSET (ID: 65287, required/optional) - Offset of the IMU local time with respect to GNSS time. Required when the original IMU time source is a local time.
IMU AUX (ID: 2305, required) - Auxiliary IMU data
IMU RAW (ID: 2304, required) - Raw IMU data

Topic Publication

Topic is published upon receiving IMU RAW SBP message. Time stamp depends on timestamp_source_gnss setting flag in the configuration file:

True: The topic timestamp contains the UTC time of the measurement computed from UTC TIME, GPS TIME, GNSS TIME OFFSET and IMU RAW SBP messages depending on original IMU time stamping source. If the UTC time is not available the current platform time is reported.
False: The topic timestamp contains the current platform time.

Topic Fields

ROS2 Message Field	SBP Message Data Source	Notes
`header.stamp`	`UTC TIME` `GPS TIME` `GNSS TIME OFFSET`	See Topic Publication for time stamping details
`header.frame_id`	--	Text from `frame_name` field in the `settings.yaml` configuration file
`orientation` `orientation_covariance`	--	Not populated. Always zero. `orientation_covariance[0]` is always -1.
`angular_velocity`	`IMU RAW` `IMU AUX`	Reported in sensor frame. Zeros when invalid.
`angular_velocity_covariance`	--	Not populated. `angular_velocity_covariance[0]` is set to -1 when angular velocity is not valid or when the time stamping source has changed
`linear_acceleration`	`IMU RAW` `IMU AUX`	Reported in sensor frame. Zeros when invalid.
`linear_acceleration_covariance`	--	Not populated. `linear_acceleration_covariance[0]` is set to -1 when linear acceleration is not valid or when the time stamping source has changed

Building Driver

Click here if building driver in a docker

Dependencies:

libsbp - Swift Binary Protocol library
libserialport - Serial Port communication library

Step 1 (Install ROS 2 Humble):

Follow instructions to install ROS 2 Humble

Step 2 (Install libspb):

In any directory you wish, clone libsp v4.11.0, init the repo, make the lib and install it

  git clone https://github.com/swift-nav/libsbp.git
  cd libsbp
  git checkout v4.11.0
  cd c
  git submodule update --init --recursive
  mkdir build
  cd build
  cmake DCMAKE_CXX_STANDARD=17 -DCMAKE_CXX_STANDARD_REQUIRED=ON -DCMAKE_CXX_EXTENSIONS=OFF ../ 
  make
  sudo make install

Step 3 (Download Driver Code)

Navigate to workspace directory (e.g.: ~/workspace) and download driver source files

  cd ~/workspace
  mkdir src
  cd src
  git clone https://github.com/swift-nav/swiftnav-ros2.git

Step 4 (Install Dependencies)

Initialize environment and install dependencies

  cd ~/workspace
  source /opt/ros/humble/setup.bash
  sudo apt-get update
  sudo apt-get install libserialport-dev
  rosdep install --from-paths src --ignore-src -r -y

Step 5 (Edit Configuration)

Edit configuration file as required. See ROS 2 driver configuration for setting details.

  nano ~/workspace/src/swiftnav-ros2/config/settings.yaml

Step 6 (Build)

Initialize environment and build the driver

  cd ~/workspace
  source /opt/ros/humble/setup.bash
  colcon build

Launching Driver

Launching

Source installed driver and start it

  source install/setup.bash
  ros2 launch swiftnav_ros2_driver start.py

Viewing Topics

Swift specific SBP messages are not a part of the ROS 2 standard library, therefore the following command must be run in any terminal that is used for interfacing with this driver (e.g.: echoing the baseline message in a new terminal)

  source install/setup.bash
  ros2 topic echo /baseline

Changing Configuration

Changing the configuration file can be done in the driver source (config/settings.yaml), but the driver will need to be rebuilt. Alternatively, the configuration file can be changed in the installed directory:

  nano install/swiftnav_ros2_driver/share/swiftnav_ros2_driver/config/settings.yaml

Driver Configuration

The driver configuration is stored in the config/settings.yaml file. The following settings are available:

Parameter	Accepted Values	Description
`interface`	`1`, `2`, `3`	SwiftNav GNSS receiver communication interface: `1` - TCP Client `2` - Serial port `3` - File (playback)
`host_ip`	E.g.: `192.168.0.222`	IP address of the GNSS receiver. Only used if `interface` is `1`.
`host_port`	E.g.: `55556`	TCP port used. Only used if `interface` is `1`.
`read_timeout` `write_timeout`	E.g.: `10000`	A timeout for read/write operations in milliseconds. Used for `interface` `1` and `2`.
`device_name`	E.g.: `/dev/ttyS0` (Linux), `COM1` (Windows)	Serial device name. Only used if `interface` is `2`.
`connection_str`	E.g.: `115200\|N\|8\|1\|N` (See Connection String Description)	A connection string that describes the parameters needed for the serial communication. Only used if `interface` is `2`.
`sbp_file`	E.g.: `/logs/sbp-file.sbp`	SBP file name for playback. Absolute path is required. Only used if `interface` is `3`. Playback is done at file reading rate, not a real-time.
`frame_name`	string	ROS topics frame name
`timestamp_source_gnss`	`True`, `False`	Topic publication header time stamp source. `True`: use GNSS receiver reported time, `False`: use current platfrom time.
`baseline_dir_offset_deg`	-180.0 .. 180.0	RTK Baseline direction offset in [deg]. Floating point value is required.
`baseline_dip_offset_deg`	-90.0 .. 90.0	RTK Baseline dip offset in [deg]. Floating point value is required.
`track_update_min_speed_mps`	E.g.: `1.0`	Mininal horizontal speed for `track` updates from SBP message `VEL NED COV` in [m/s]. `track` and `err_track` outputs are 'frozen' below this threshold. Floating point value is required.
`enabled_publishers[]`	`gpsfix` `navsatfix` `twistwithcovariancestamped` `baseline` `timereference` `imu`	List of enabled publishers. Delete (comment out) the line to disable publisher.
log_sbp_messages	`True`, `False`	Enable/disable SBP raw data recording.
log_sbp_filepath	E.g.: `/logs/sbp-files/`	Absolute path (without a file name) for SBP log file location. File name is created automatically with the current date and time, e.g.: `swiftnav-20230404-160720.sbp`.

Connection String Description

The connection string for the serial interface has the form: BAUD RATE|PARITY|DATA BITS|STOP BITS|FLOW CONTROL

Baud Rates

1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600.

Parity

Value	Description
`N`	No parity
`E`	Even parity
`O`	Odd parity
`M`	Mark parity (Not available in some Linux distributions)
`S`	Space parity (Not available in some Linux distributions)

Data Bits

7 or 8

Stop Bits

1 or 2

Flow Control

Value	Description
`N`	No flow control
`X`	Xon/Xoff
`R`	RTS/CTS
`D`	DTR/DSR

GNSS Receiver Configuration

The ROS 2 driver works with Swift Navigation receivers and Starling Position Engine software using data in SBP protocol. Refer to the receiver-specific manual to configure your receiver:

It's recommended to dedicate one output port for ROS and output on that port only messages required by the driver. This will minimize the latency and jitter of the incoming messages, and decrease CPU load.

The driver uses the following SBP messages:

Message Name	Message ID (decimal)	Description
`MEASUREMENT STATE`	97	Satellite tracking data
`GPS TIME`	258	GPS time
`UTC TIME`	259	UTC time
`DOPS`	520	Dillution Of Precision
`BASELINE NED`	524	Baseline vectors in NED frame
`POS LLH COV`	529	Position (latitude, longitude, altitude) with covariance
`VEL NED COV`	530	Velocity vectors in NED frame with covariance
`ORIENT EULER`	545	Orientation (roll, pitch, yaw) Note: message is available only in products with inertial fusion enabled
`IMU RAW`	2304	Raw IMU data
`IMU AUX`	2305	IMU temperature and senor ranges
`GNSS TIME OFFSET`	65287	Offset of the local time with respect to GNSS time

Download Swift Binary Protocol Specification

Piksi Multi / Duro Configuration Example

Piksi Multi and Duro configuration can be changed using Swift Console program. TCP Server 1 settings example:

Note: Click SAVE TO DEVICE button to memorize settings over the power cycle.

Starling Configuration Example

Starling configuration is saved in the yaml configuration file. TCP server output example:

...
  outputs:
    - name: sbp-ros2
      protocol: sbp
      type: tcp-server
      port: 55556
      max-conns: 4
      sbp:
        enabled-messages: [ 97,258,259,520,524,529,530,545,2304,2305,65287 ]
...

Technical Support

Support requests can be made by filling the Support Request Form on the Swift Navigation Support page (Support Request Form button is at the bottom of the page). A simple login is required to confirm your email address.

Monash-Connected-Autonomous-Vehicle/swiftnav-ros2

swiftnav-ros2

Table of Contents

Features

ROS Topics

GpsFix

SBP Messages Used

Topic Publication

Topic Fields

NavSatFix

SBP Messages Used

Topic Publication

Topic Fields

TwistWithCovarianceStamped

SBP Messages Used

Topic Publication

Topic Fields

Baseline

SBP Messages Used

Topic Publication

Topic Fields

TimeReference

SBP Messages Used

Topic Publication

Topic Fields

Imu

SBP Messages Used

Topic Publication

Topic Fields

Building Driver

Dependencies:

Step 1 (Install ROS 2 Humble):

Step 2 (Install libspb):

Step 3 (Download Driver Code)

Step 4 (Install Dependencies)

Step 5 (Edit Configuration)

Step 6 (Build)

Launching Driver

Launching

Viewing Topics

Changing Configuration

Driver Configuration

Connection String Description

Baud Rates

Parity

Data Bits

Stop Bits

Flow Control

GNSS Receiver Configuration

Piksi Multi / Duro Configuration Example

Starling Configuration Example

Technical Support