ntrip_ros.py

Go to the documentation of this file.

#!/usr/bin/env python3
 
import sys
import importlib
 
import rospy
 
from ntrip_client.ntrip_ros_base import NTRIPRosBase
from ntrip_client.ntrip_client import NTRIPClient
 
# Try to import a couple different types of RTCM messages
_MAVROS_MSGS_NAME = "mavros_msgs"
_RTCM_MSGS_NAME = "rtcm_msgs"
have_mavros_msgs = False
have_rtcm_msgs = False
if importlib.util.find_spec(_MAVROS_MSGS_NAME) is not None:
  have_mavros_msgs = True
  from mavros_msgs.msg import RTCM as mavros_msgs_RTCM
if importlib.util.find_spec(_RTCM_MSGS_NAME) is not None:
  have_rtcm_msgs = True
  from rtcm_msgs.msg import Message as rtcm_msgs_RTCM
 
class NTRIPRos(NTRIPRosBase):
  def __init__(self):
    # Init the node
    super().__init__('ntrip_client')
 
    # Read some mandatory config
    host = rospy.get_param('~host', '127.0.0.1')
    port = rospy.get_param('~port', '2101')
    mountpoint = rospy.get_param('~mountpoint', 'mount')
 
    # Optionally get the ntrip version from the launch file
    ntrip_version = rospy.get_param('~ntrip_version', None)
    if ntrip_version == '':
      ntrip_version = None
 
    # If we were asked to authenticate, read the username and password
    username = None
    password = None
    if rospy.get_param('~authenticate', False):
      username = rospy.get_param('~username', None)
      password = rospy.get_param('~password', None)
      if username is None:
        rospy.logerr(
          'Requested to authenticate, but param "username" was not set')
        sys.exit(1)
      if password is None:
        rospy.logerr(
          'Requested to authenticate, but param "password" was not set')
        sys.exit(1)
 
    # Initialize the client
    self._client = NTRIPClient(
      host=host,
      port=port,
      mountpoint=mountpoint,
      ntrip_version=ntrip_version,
      username=username,
      password=password,
      logerr=rospy.logerr,
      logwarn=rospy.logwarn,
      loginfo=rospy.loginfo,
      logdebug=rospy.logdebug
    )
 
    # Get some SSL parameters for the NTRIP client
    self._client.ssl = rospy.get_param('~ssl', False)
    self._client.cert = rospy.get_param('~cert', None)
    self._client.key = rospy.get_param('~key', None)
    self._client.ca_cert = rospy.get_param('~ca_cert', None)
 
    # Set parameters on the client
    self._client.nmea_parser.nmea_max_length = self._nmea_max_length
    self._client.nmea_parser.nmea_min_length = self._nmea_min_length
    self._client.reconnect_attempt_max = self._reconnect_attempt_max
    self._client.reconnect_attempt_wait_seconds = self._reconnect_attempt_wait_seconds
    self._client.rtcm_timeout_seconds = rospy.get_param('~rtcm_timeout_seconds', NTRIPClient.DEFAULT_RTCM_TIMEOUT_SECONDS)
 
 
if __name__ == '__main__':
  ntrip_ros = NTRIPRos()
  sys.exit(ntrip_ros.run())