gps_driver适用于华测导航610款组合导航模式

Clone repository:

cd ~/catkin_ws/src
git clone https://github.com/lengjiaming/gps_driver
cd ..
catkin_make
source ~/catkin_ws/devel/setup.bash

Launch ROS

roslaunch chccgi610 chccgi610_nav.launch

If you want to see the trajectory at the same time, you should run:

roslaunch chccgi610 realtime_trajectory.launch

Using a rosbag to offline test, you should run

chccgi610_trajectory.launch

and change the path at rosbag node in launch