RTK - umrover/mrover-ros GitHub Wiki

Overview: What is RTK?

Please watch these videos to gain a deeper understanding of RTK and how GPS's work

Tasks to achieve RTK

Get RTCM messages to transmit

RTCM messages contain pseudorange correction data for GPS satellites. This is the data we want to transmit from the base station GPS to the rover GPS. We currently have a node that publishes the RTCM's from the base station GPS to ROS. We are currently working on implementing our own gps driver that would read the RTCM's from ROS and then send them to the rover GPS. The current branch where we are developing this code on is linked here