This is for the ArduSimple ZED-F9P boards. (Mainly affects which port on the board is being used.) I am connecting the F9P board to a Linux laptop with USB cable. (MovingBaseline requires connecting a single wire between two receiver boards.)
I copied the ublox ROS driver from https://github.com/bao-eng/ublox
Looking at my initial commit comments I really didn't change anything to get it to work.
I added ROS topic RTCM correction support so the board produces an RTK fix. (The correction data is sent through the ROS driver node.) The RTCM server is here: https://github.com/ros-agriculture/ntrip_ros A similar server (may be better than mine) is here: https://github.com/dayjaby/ntrip_ros
I added launch files and yaml files to allow running two F9P boards at the same time. This allows operation in MovingBaseline mode.
I need to add the uBlox config files which get manually loaded on to the boards through uBlox u-center software.
Below is original README from bao-eng that I started with:
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Just quick hardcode to publish some UBX messages to ROS. Disabled configuration of the receiver via yaml. Reciever should be configured via u-center software. Hardcoded to work as HPG Rover device. NavRELPOSNED.msg updated to match u-blox 9 protocol version 27.1
It may also require this package: https://github.com/tilk/rtcm_msgs
zed-f9p.yaml (only for seting up device connection and published messages)
roslaunch ublox_gps ublox_zed-f9p.launch