gps_rtk

• File: mavros_extras/src/plugins/gps_rtk.cpp
• Class: mavros::extra_plugins::GpsRtkPlugin
• Namespace: gps_rtk
• Brief: GPS RTK plugin

1. Publish the RTCM messages from ROS to the FCU 2. Publish RTK baseline data from the FCU to ROS

Publishers

• ~/rtk_baseline (mavros_msgs::msg::RTKBaseline) - TODO(vooon): set QoS for latched topic

Subscribers

• ~/send_rtcm (mavros_msgs::msg::RTCM)

Services

• None

Clients

• None

Parameters

• None

MAVLink Subscriptions

• GPS_RTK [handler: handle_baseline_msg, dialect: common, msg_id: 127, id: mavlink::common::msg::GPS_RTK::MSG_ID]

MAVLink Publications

• GPS_RTCM_DATA [arg: rtcm_data, dialect: common, msg_id: 233, id: mavlink::common::msg::GPS_RTCM_DATA::MSG_ID]
• GPS_RTCM_DATA [arg: rtcm_data, dialect: common, msg_id: 233, id: mavlink::common::msg::GPS_RTCM_DATA::MSG_ID]