UM982 Serial Driver for ROS 2

Introduction

This project provides a serial driver for the UM982 GNSS receiver, designed to work with ROS 2. The driver decodes GNSS messages and publishes relevant data to ROS 2 topics.

Prerequisites

• ROS 2 (Humble or later)
• Python 3.10 or later
• numpy==1.21.5, transforms3d==0.4.1, and pyproj==3.2.1 Python packages

Installation

1. Install ROS 2 by following the instructions on the ROS 2 installation page.
2. Clone this repository:

   git clone https://github.com/lostDeers/UM982Driver-ros2.git
   cd UM982Driver-ros2

3. Install the required Python packages:

   pip install -r requirements.txt

4. Build the package:

   colcon build

Topics

The following topics are used in the um982_serial_driver/node.py file:

• odometry_topic: The topic name for publishing odometry data (default: "odom").
• nav_sat_fix_topic: The topic name for publishing NavSatFix data (default: "nav_sat_fix").
• gngga_topic: The topic name for publishing GNGGA data (default: "gngga").
• rtcm_topic: The topic name for subscribing to RTCM data (default: "rtcm").

License

This project is licensed under the GNU General Public License v3.0. See the LICENSE file for details.

Contributing

Contributions are welcome! Please follow these steps to contribute:

1. Fork the repository.
2. Create a new branch for your feature or bugfix.
3. Commit your changes and push the branch to your fork.
4. Create a pull request with a description of your changes.

Reporting Issues

If you encounter any issues or have feature requests, please open an issue on the GitHub repository.

Acknowledgments

The serial driver code is based on sunshineharry/UM982Driver.

README is written by Copilot.