io_oxts

io_oxts is a ROS 1 driver for OxTS navigation systems. The repository consists of two ROS packages:

• io_oxts: The main package that interfaces with the OxTS inertial navigation system.
• oxts_msgs: The ROS 1 message definitions for the OxTS inertial navigation system.

The driver is tested on Ubuntu 20.04 with ROS Noetic.

Installation

io_oxts depends on the two custom ROS 1 packages ethernet_msgs and tas_proj. If you have not already installed these packages, clone the repositories into your catkin workspace and build them:

cd ~/path/to/your/catkin_ws/src
git clone git@github.com:UniBwTAS/tas_proj.git
catkin build tas_proj # tas_proj depends on Eigen 3.x 
git clone git@github.com:UniBwTAS/ethernet_msgs.git
catkin build ethernet_msgs

Then source your workspace and clone the io_oxts repository:

source ~/path/to/your/catkin_ws/devel/setup.zsh # or setup.bash
cd ~/path/to/your/catkin_ws/src
git clone git@github.com:UniBwTAS/io_oxts.git
cd io_oxts

Including the NCOM decoder

To decode the NCOM packets, the io_oxts package uses the publicly available source files of the NCOMdecoder:

# here we are assuming that you are in the io_oxts directory
git clone https://github.com/OxfordTechnicalSolutions/NCOMdecoder.git
cd NCOMdecoder
git checkout 6bd95e9 # Use the latest commit (6bd95e9) that is compatible with the io_oxts package
# copy over the neceessary header and source files
cp nav/NComRxC.c ../io_oxts/src/ncomrx_c.cpp
cp nav/NComRxC.h ../io_oxts/include/io_oxts/ncomrx_c.h
cd ..
rm -rf NCOMdecoder # remove the NCOMdecoder repository

# change the line 48 in the source file
sed -i '48s|#include "NComRxC.h"|#include "io_oxts/ncomrx_c.h"|' io_oxts/src/ncomrx_c.cpp

# now build the io_oxts package
catkin build io_oxts

License

The source code of io_oxts is released under the BSD-3 license. For more details, see the LICENSE file.

The files io_oxts/src/ncomrx_c.cpp and io_oxts/include/ncomrx_c.h are based on the NCOMdecoder and are protected by the copyright of Oxford Technical Solutions. For more details, review their LICENSE file here: NCOMdecoder/LICENSE.md.