├── launch └── ntrip_ros.launch ├── README.md ├── package.xml ├── .gitignore ├── scripts └── ntripclient.py ├── CMakeLists.txt └── LICENSE /launch/ntrip_ros.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # ntrip_ros for Python3 and ROS noetic 2 | NTRIP client, imports RTCM streams to ROS topic 3 | 4 | This Package offers a fully functional NTRIP Client for Python3 and Python2. Tested and used with the ublox f9p and hexagon smartnet. 5 | 6 | You can generate the require $GPGGA message at this site. https://www.nmeagen.org/ Set a point near where you want to run and click "Generate NMEA file". Cut and paste the $GPGGA message into the launch file. 7 | 8 | I intend to use it with https://github.com/ros-agriculture/ublox_f9p 9 | 10 | It requires this package: https://github.com/tilk/rtcm_msgs 11 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ntrip_ros 4 | 0.0.1 5 | The ntrip_ros package 6 | 7 | 8 | 9 | 10 | tilk 11 | 12 | 13 | 14 | 15 | 16 | BSD 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | catkin 43 | nmea_msgs 44 | rospy 45 | rtcm_msgs 46 | std_msgs 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | build/ 12 | develop-eggs/ 13 | dist/ 14 | downloads/ 15 | eggs/ 16 | .eggs/ 17 | lib/ 18 | lib64/ 19 | parts/ 20 | sdist/ 21 | var/ 22 | wheels/ 23 | pip-wheel-metadata/ 24 | share/python-wheels/ 25 | *.egg-info/ 26 | .installed.cfg 27 | *.egg 28 | MANIFEST 29 | 30 | # PyInstaller 31 | # Usually these files are written by a python script from a template 32 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 33 | *.manifest 34 | *.spec 35 | 36 | # Installer logs 37 | pip-log.txt 38 | pip-delete-this-directory.txt 39 | 40 | # Unit test / coverage reports 41 | htmlcov/ 42 | .tox/ 43 | .nox/ 44 | .coverage 45 | .coverage.* 46 | .cache 47 | nosetests.xml 48 | coverage.xml 49 | *.cover 50 | *.py,cover 51 | .hypothesis/ 52 | .pytest_cache/ 53 | 54 | # Translations 55 | *.mo 56 | *.pot 57 | 58 | # Django stuff: 59 | *.log 60 | local_settings.py 61 | db.sqlite3 62 | db.sqlite3-journal 63 | 64 | # Flask stuff: 65 | instance/ 66 | .webassets-cache 67 | 68 | # Scrapy stuff: 69 | .scrapy 70 | 71 | # Sphinx documentation 72 | docs/_build/ 73 | 74 | # PyBuilder 75 | target/ 76 | 77 | # Jupyter Notebook 78 | .ipynb_checkpoints 79 | 80 | # IPython 81 | profile_default/ 82 | ipython_config.py 83 | 84 | # pyenv 85 | .python-version 86 | 87 | # pipenv 88 | # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. 89 | # However, in case of collaboration, if having platform-specific dependencies or dependencies 90 | # having no cross-platform support, pipenv may install dependencies that don't work, or not 91 | # install all needed dependencies. 92 | #Pipfile.lock 93 | 94 | # PEP 582; used by e.g. github.com/David-OConnor/pyflow 95 | __pypackages__/ 96 | 97 | # Celery stuff 98 | celerybeat-schedule 99 | celerybeat.pid 100 | 101 | # SageMath parsed files 102 | *.sage.py 103 | 104 | # Environments 105 | .env 106 | .venv 107 | env/ 108 | venv/ 109 | ENV/ 110 | env.bak/ 111 | venv.bak/ 112 | 113 | # Spyder project settings 114 | .spyderproject 115 | .spyproject 116 | 117 | # Rope project settings 118 | .ropeproject 119 | 120 | # mkdocs documentation 121 | /site 122 | 123 | # mypy 124 | .mypy_cache/ 125 | .dmypy.json 126 | dmypy.json 127 | 128 | # Pyre type checker 129 | .pyre/ 130 | -------------------------------------------------------------------------------- /scripts/ntripclient.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python3 2 | 3 | import rospy 4 | from datetime import datetime 5 | 6 | #from nmea_msgs.msg import Sentence 7 | from rtcm_msgs.msg import Message 8 | 9 | from base64 import b64encode 10 | from threading import Thread 11 | 12 | from http.client import HTTPConnection 13 | from http.client import IncompleteRead 14 | 15 | ''' This is to fix the IncompleteRead error 16 | http://bobrochel.blogspot.com/2010/11/bad-servers-chunked-encoding-and.html''' 17 | import http.client 18 | 19 | import requests 20 | from requests.auth import HTTPBasicAuth 21 | 22 | 23 | 24 | def NiceToICY(self): 25 | class InterceptedHTTPResponse(): 26 | pass 27 | import io 28 | line = self.fp.readline().replace(b"ICY 200 OK\r\n", b"HTTP/1.0 200 OK\r\n") 29 | InterceptedSelf = InterceptedHTTPResponse() 30 | InterceptedSelf.fp = io.BufferedReader(io.BytesIO(line)) 31 | InterceptedSelf.debuglevel = self.debuglevel 32 | InterceptedSelf._close_conn = self._close_conn 33 | return ORIGINAL_HTTP_CLIENT_READ_STATUS(InterceptedSelf) 34 | 35 | ORIGINAL_HTTP_CLIENT_READ_STATUS = http.client.HTTPResponse._read_status 36 | http.client.HTTPResponse._read_status = NiceToICY 37 | 38 | 39 | def patch_http_response_read(func): 40 | def inner(*args): 41 | try: 42 | return func(*args) 43 | except http.client.IncompleteRead as e: 44 | return e.partial 45 | return inner 46 | http.client.HTTPResponse.read = patch_http_response_read(http.client.HTTPResponse.read) 47 | 48 | class ntripconnect(Thread): 49 | def __init__(self, ntc): 50 | super(ntripconnect, self).__init__() 51 | self.ntc = ntc 52 | self.stop = False 53 | 54 | def run(self): 55 | headers = { 56 | 'Ntrip-Version': 'Ntrip/2.0', 57 | 'User-Agent': 'NTRIP ntrip_ros', 58 | 'Connection': 'close', 59 | 'Authorization': 'Basic ' + b64encode((self.ntc.ntrip_user + ':' + self.ntc.ntrip_pass).encode()).decode("ascii") 60 | } 61 | connection = HTTPConnection(self.ntc.ntrip_server) 62 | connection.set_debuglevel(1) 63 | connection.request('GET', '/'+self.ntc.ntrip_stream, self.ntc.nmea_gga, headers) 64 | response = connection.getresponse() 65 | if response.status != 200: raise Exception("blah") 66 | buf = "" 67 | rmsg = Message() 68 | restart_count = 0 69 | while not self.stop: 70 | ''' 71 | data = response.read(100) 72 | pos = data.find('\r\n') 73 | if pos != -1: 74 | rmsg.message = buf + data[:pos] 75 | rmsg.header.seq += 1 76 | rmsg.header.stamp = rospy.get_rostime() 77 | buf = data[pos+2:] 78 | self.ntc.pub.publish(rmsg) 79 | else: buf += data 80 | ''' 81 | 82 | ''' This now separates individual RTCM messages and publishes each one on the same topic ''' 83 | data = response.read(1) 84 | if len(data) != 0: 85 | if data[0] == 211: 86 | buf = [] 87 | buf.append(data[0]) 88 | data = response.read(2) 89 | buf.append(data[0]) 90 | buf.append(data[1]) 91 | cnt = data[0] * 256 + data[1] 92 | data = response.read(2) 93 | buf.append(data[0]) 94 | buf.append(data[1]) 95 | typ = (data[0] * 256 + data[1]) / 16 96 | print(str(datetime.now()), cnt, typ) 97 | cnt = cnt + 1 98 | for x in range(cnt): 99 | data = response.read(1) 100 | buf.append(data[0]) 101 | rmsg.message = buf 102 | rmsg.header.seq += 1 103 | rmsg.header.stamp = rospy.get_rostime() 104 | self.ntc.pub.publish(rmsg) 105 | buf = [] 106 | else: print (data) 107 | else: 108 | ''' If zero length data, close connection and reopen it ''' 109 | restart_count = restart_count + 1 110 | print("Zero length ", restart_count) 111 | connection.close() 112 | connection = HTTPConnection(self.ntc.ntrip_server) 113 | connection.request('GET', '/'+self.ntc.ntrip_stream, self.ntc.nmea_gga, headers) 114 | response = connection.getresponse() 115 | if response.status != 200: raise Exception("blah") 116 | buf = "" 117 | 118 | connection.close() 119 | 120 | class ntripclient: 121 | def __init__(self): 122 | rospy.init_node('ntripclient', anonymous=True) 123 | 124 | self.rtcm_topic = rospy.get_param('~rtcm_topic', 'rtcm') 125 | self.nmea_topic = rospy.get_param('~nmea_topic', 'nmea') 126 | 127 | self.ntrip_server = rospy.get_param('~ntrip_server') 128 | self.ntrip_user = rospy.get_param('~ntrip_user') 129 | self.ntrip_pass = rospy.get_param('~ntrip_pass') 130 | self.ntrip_stream = rospy.get_param('~ntrip_stream') 131 | self.nmea_gga = rospy.get_param('~nmea_gga') 132 | 133 | self.pub = rospy.Publisher(self.rtcm_topic, Message, queue_size=10) 134 | 135 | self.connection = None 136 | self.connection = ntripconnect(self) 137 | self.connection.start() 138 | 139 | def run(self): 140 | rospy.spin() 141 | if self.connection is not None: 142 | self.connection.stop = True 143 | 144 | if __name__ == '__main__': 145 | c = ntripclient() 146 | c.run() 147 | 148 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ntrip_ros) 3 | 4 | ## Find catkin macros and libraries 5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 6 | ## is used, also find other catkin packages 7 | find_package(catkin REQUIRED COMPONENTS 8 | # rtcm_msgs 9 | # nmea_msgs 10 | rospy 11 | std_msgs 12 | ) 13 | 14 | ## System dependencies are found with CMake's conventions 15 | # find_package(Boost REQUIRED COMPONENTS system) 16 | 17 | 18 | ## Uncomment this if the package has a setup.py. This macro ensures 19 | ## modules and global scripts declared therein get installed 20 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 21 | # catkin_python_setup() 22 | 23 | ################################################ 24 | ## Declare ROS messages, services and actions ## 25 | ################################################ 26 | 27 | ## To declare and build messages, services or actions from within this 28 | ## package, follow these steps: 29 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 30 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 31 | ## * In the file package.xml: 32 | ## * add a build_depend tag for "message_generation" 33 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 34 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 35 | ## but can be declared for certainty nonetheless: 36 | ## * add a run_depend tag for "message_runtime" 37 | ## * In this file (CMakeLists.txt): 38 | ## * add "message_generation" and every package in MSG_DEP_SET to 39 | ## find_package(catkin REQUIRED COMPONENTS ...) 40 | ## * add "message_runtime" and every package in MSG_DEP_SET to 41 | ## catkin_package(CATKIN_DEPENDS ...) 42 | ## * uncomment the add_*_files sections below as needed 43 | ## and list every .msg/.srv/.action file to be processed 44 | ## * uncomment the generate_messages entry below 45 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 46 | 47 | ## Generate messages in the 'msg' folder 48 | # add_message_files( 49 | # FILES 50 | # Message1.msg 51 | # Message2.msg 52 | # ) 53 | 54 | ## Generate services in the 'srv' folder 55 | # add_service_files( 56 | # FILES 57 | # Service1.srv 58 | # Service2.srv 59 | # ) 60 | 61 | ## Generate actions in the 'action' folder 62 | # add_action_files( 63 | # FILES 64 | # Action1.action 65 | # Action2.action 66 | # ) 67 | 68 | ## Generate added messages and services with any dependencies listed here 69 | # generate_messages( 70 | # DEPENDENCIES 71 | # nmea_msgs# rtcm_msgs# std_msgs 72 | # ) 73 | 74 | ################################################ 75 | ## Declare ROS dynamic reconfigure parameters ## 76 | ################################################ 77 | 78 | ## To declare and build dynamic reconfigure parameters within this 79 | ## package, follow these steps: 80 | ## * In the file package.xml: 81 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 82 | ## * In this file (CMakeLists.txt): 83 | ## * add "dynamic_reconfigure" to 84 | ## find_package(catkin REQUIRED COMPONENTS ...) 85 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 86 | ## and list every .cfg file to be processed 87 | 88 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 89 | # generate_dynamic_reconfigure_options( 90 | # cfg/DynReconf1.cfg 91 | # cfg/DynReconf2.cfg 92 | # ) 93 | 94 | ################################### 95 | ## catkin specific configuration ## 96 | ################################### 97 | ## The catkin_package macro generates cmake config files for your package 98 | ## Declare things to be passed to dependent projects 99 | ## INCLUDE_DIRS: uncomment this if you package contains header files 100 | ## LIBRARIES: libraries you create in this project that dependent projects also need 101 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 102 | ## DEPENDS: system dependencies of this project that dependent projects also need 103 | catkin_package( 104 | # INCLUDE_DIRS include 105 | # LIBRARIES ntrip_ros 106 | # CATKIN_DEPENDS nmea_msgs rospy rtcm_msgs std_msgs 107 | # DEPENDS system_lib 108 | ) 109 | 110 | ########### 111 | ## Build ## 112 | ########### 113 | 114 | ## Specify additional locations of header files 115 | ## Your package locations should be listed before other locations 116 | # include_directories(include) 117 | include_directories( 118 | ${catkin_INCLUDE_DIRS} 119 | ) 120 | 121 | ## Declare a C++ library 122 | # add_library(ntrip_ros 123 | # src/${PROJECT_NAME}/ntrip_ros.cpp 124 | # ) 125 | 126 | ## Add cmake target dependencies of the library 127 | ## as an example, code may need to be generated before libraries 128 | ## either from message generation or dynamic reconfigure 129 | # add_dependencies(ntrip_ros ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 130 | 131 | ## Declare a C++ executable 132 | # add_executable(ntrip_ros_node src/ntrip_ros_node.cpp) 133 | 134 | ## Add cmake target dependencies of the executable 135 | ## same as for the library above 136 | # add_dependencies(ntrip_ros_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 137 | 138 | ## Specify libraries to link a library or executable target against 139 | # target_link_libraries(ntrip_ros_node 140 | # ${catkin_LIBRARIES} 141 | # ) 142 | 143 | ############# 144 | ## Install ## 145 | ############# 146 | 147 | # all install targets should use catkin DESTINATION variables 148 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 149 | 150 | ## Mark executable scripts (Python etc.) for installation 151 | ## in contrast to setup.py, you can choose the destination 152 | # install(PROGRAMS 153 | # scripts/my_python_script 154 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 155 | # ) 156 | 157 | ## Mark executables and/or libraries for installation 158 | # install(TARGETS ntrip_ros ntrip_ros_node 159 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 160 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 161 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 162 | # ) 163 | 164 | ## Mark cpp header files for installation 165 | # install(DIRECTORY include/${PROJECT_NAME}/ 166 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 167 | # FILES_MATCHING PATTERN "*.h" 168 | # PATTERN ".svn" EXCLUDE 169 | # ) 170 | 171 | ## Mark other files for installation (e.g. launch and bag files, etc.) 172 | # install(FILES 173 | # # myfile1 174 | # # myfile2 175 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 176 | # ) 177 | 178 | ############# 179 | ## Testing ## 180 | ############# 181 | 182 | ## Add gtest based cpp test target and link libraries 183 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_ntrip_ros.cpp) 184 | # if(TARGET ${PROJECT_NAME}-test) 185 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 186 | # endif() 187 | 188 | ## 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In such case, this License incorporates 235 | the limitation as if written in the body of this License. 236 | 237 | 9. The Free Software Foundation may publish revised and/or new versions 238 | of the General Public License from time to time. Such new versions will 239 | be similar in spirit to the present version, but may differ in detail to 240 | address new problems or concerns. 241 | 242 | Each version is given a distinguishing version number. If the Program 243 | specifies a version number of this License which applies to it and "any 244 | later version", you have the option of following the terms and conditions 245 | either of that version or of any later version published by the Free 246 | Software Foundation. If the Program does not specify a version number of 247 | this License, you may choose any version ever published by the Free Software 248 | Foundation. 249 | 250 | 10. If you wish to incorporate parts of the Program into other free 251 | programs whose distribution conditions are different, write to the author 252 | to ask for permission. For software which is copyrighted by the Free 253 | Software Foundation, write to the Free Software Foundation; we sometimes 254 | make exceptions for this. Our decision will be guided by the two goals 255 | of preserving the free status of all derivatives of our free software and 256 | of promoting the sharing and reuse of software generally. 257 | 258 | NO WARRANTY 259 | 260 | 11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY 261 | FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN 262 | OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES 263 | PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED 264 | OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 265 | MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS 266 | TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE 267 | PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, 268 | REPAIR OR CORRECTION. 269 | 270 | 12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 271 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR 272 | REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, 273 | INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING 274 | OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED 275 | TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY 276 | YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER 277 | PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE 278 | POSSIBILITY OF SUCH DAMAGES. 279 | 280 | END OF TERMS AND CONDITIONS 281 | 282 | How to Apply These Terms to Your New Programs 283 | 284 | If you develop a new program, and you want it to be of the greatest 285 | possible use to the public, the best way to achieve this is to make it 286 | free software which everyone can redistribute and change under these terms. 287 | 288 | To do so, attach the following notices to the program. It is safest 289 | to attach them to the start of each source file to most effectively 290 | convey the exclusion of warranty; and each file should have at least 291 | the "copyright" line and a pointer to where the full notice is found. 292 | 293 | 294 | Copyright (C) 295 | 296 | This program is free software; you can redistribute it and/or modify 297 | it under the terms of the GNU General Public License as published by 298 | the Free Software Foundation; either version 2 of the License, or 299 | (at your option) any later version. 300 | 301 | This program is distributed in the hope that it will be useful, 302 | but WITHOUT ANY WARRANTY; without even the implied warranty of 303 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 304 | GNU General Public License for more details. 305 | 306 | You should have received a copy of the GNU General Public License along 307 | with this program; if not, write to the Free Software Foundation, Inc., 308 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. 309 | 310 | Also add information on how to contact you by electronic and paper mail. 311 | 312 | If the program is interactive, make it output a short notice like this 313 | when it starts in an interactive mode: 314 | 315 | Gnomovision version 69, Copyright (C) year name of author 316 | Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 317 | This is free software, and you are welcome to redistribute it 318 | under certain conditions; type `show c' for details. 319 | 320 | The hypothetical commands `show w' and `show c' should show the appropriate 321 | parts of the General Public License. Of course, the commands you use may 322 | be called something other than `show w' and `show c'; they could even be 323 | mouse-clicks or menu items--whatever suits your program. 324 | 325 | You should also get your employer (if you work as a programmer) or your 326 | school, if any, to sign a "copyright disclaimer" for the program, if 327 | necessary. Here is a sample; alter the names: 328 | 329 | Yoyodyne, Inc., hereby disclaims all copyright interest in the program 330 | `Gnomovision' (which makes passes at compilers) written by James Hacker. 331 | 332 | , 1 April 1989 333 | Ty Coon, President of Vice 334 | 335 | This General Public License does not permit incorporating your program into 336 | proprietary programs. If your program is a subroutine library, you may 337 | consider it more useful to permit linking proprietary applications with the 338 | library. If this is what you want to do, use the GNU Lesser General 339 | Public License instead of this License. 340 | --------------------------------------------------------------------------------