Due to the lack of hardware available to me, this project goes unmaintained.

This node is made to work with Mavros's RTK plugin: https://github.com/mavlink/mavros/blob/ros2/mavros_extras/src/plugins/gps_rtk.cpp

mkdir -p $HOME/Workspace/src cd $HOME/Workspace/src git clone --recursive http://github.com/AlexisTM/rtk_ros cd $HOME/Workspace/ catkin build

rosrun rtk_ros rtk_ros_node _port:=/dev/ttyACM0

port = "/dev/ttyACM0" baud = 115200 survey/accuracy = 4.0 # meters survey/duration = 90.0 # seconds 

~/rtcm_out as mavros_msgs::RTCM # RTCM3 data ~/gps as sensor_msgs::NavSatFix # GPS data 

To work with mavros, redirect ~/rtcm_out to ~/send_rtcm. Once the survey is done, mavros will publish ~/rtk_baseline.