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# RTK function update

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1. mavlinkROS2Node 新增 RtcmRelay Node 監聽 RTCM topic 並轉發到 mavlinkObject bus (GPS_RTCM_DATA)
2. 新增 fc_network_module ros2 package 作為協同附屬模組的放置空間
3. Create a new fc_network_module with NtripClientNode for connecting to NTRIP casters and publishing RTCM data to ROS2 topics.
4. (modify) mainOrchestrator adjust the publishing rates for GNSS topics
This commit is contained in:
chiyu1468
2026-05-13 18:14:47 +08:00
parent c8f070bfb9
commit 5c14c45823
14 changed files with 519 additions and 23 deletions
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src/fc_network_module/package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>fc_network_module</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="chiyu1468@hotmail.com">picars</maintainer>
<license>TODO: License declaration</license>
<depend>rclpy</depend>
<depend>mavros_msgs</depend>
<depend>std_msgs</depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>