ublox c94 m8p rover or base should be used in ublox_gps node?

asked 2019-06-20 09:12:08 -0600

akosodry gravatar image

Hi,

(two noob questions)

1: I was able to set up successfully the ublox rover and base stations using the official u-center windows application based on the quick setup guide.

Now i want to use ublox_gps node to have the relevant gps topics in ROS environment. Since the node provides configuration files for both the rover (c94_m8p_rover.yaml) and base (c94_m8p_base.yaml),

im confused which one should be launched? I assume both shall be connected via USB (otherwise no RTK ofc), but which config yaml file should be launched in ROS?

2: Does the accuracy of the survey-in coordinate determination (done on the base station) influences the coordinate determination accuracy of the rover station relative from the base station? I assume yes and of course its evident, but better to ask a pro :)

Thank you for the help. Regards.

PS:I did so far the following setup in u-center:

Base successfully finished the survery-in + UBX-CFG-PRT: Target 1-UART1, In none, Out 5-RTCM3, Baud 19200 + USBX-CFG-MSG: 1005, 1077, 1087, 1230 messages are assigned to UART1

Rover only needs to receive RTCM messages, therefore UBX-CFG-PRT: Target 1-UART1, In 5-RTCM3, Out none, Baud 19200

edit retag flag offensive close merge delete