Trimble RTK-GNSS driver for ROS2

Configuration Parameters

The following are the configuration parameters available for the Trimble GNSS Driver ROS 2 package. Each parameter can be set through the launch file with its corresponding default value.

Parameters

• rtk_ip

  • Description: IP address of the RTK GNSS receiver.
  • Default: 192.168.0.50

• rtk_port

  • Description: Port number for the RTK GNSS receiver.
  • Default: 28009

• output_frame_id

  • Description: Frame ID for the output data.
  • Default: gps_base_link

• apply_dual_antenna_offset

  • Description: Boolean flag to apply dual antenna offset.
  • Default: False

• heading_offset

  • Description: Heading offset value.
  • Default: 0.0

• use_sim_time

  • Description: Use simulation time.
  • Default: False

• covariance_threshold

  • Description: Variance threshold used to filter high-covariance fixes when high-covariance data is not permitted.
  • Default: 0.2

• permit_high_covariance_data

  • Description: Publish fixes even when position covariance exceeds covariance_threshold.
  • Default: True