The global navigation satellite system (GNSS) constitutes an effective and affordable solution to the outdoor positioning problem. When combined with precise positioning techniques, such as the real time kinematic (RTK), centimeter-level positioning accuracy becomes a reality. Such performance is suitable for a whole new range of demanding applications, including high-accuracy field robotics operations. The RTKRCV, part of the RTKLIB package, is one of the most popular open-source solutions for real-time GNSS precise positioning. Yet the lack of integration with the robot operating system (ROS), constitutes a limitation on its adoption by the robotics community. This article addresses this limitation, reporting a new implementation which brings the RTKRCV capabilities into ROS. New features, including ROS publishing and control over a ROS service, were introduced seamlessly, to ensure full compatibility with all original options. Additionally, a new observation synchronization scheme improves solution consistency, particularly relevant for the moving-baseline positioning mode. Real application examples are presented to demonstrate the advantages of our rtkrcv_ros package. For community benefit, the software was released as an open-source package.

中文翻译：

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实时GNSS精准定位：RTKLIB for ROS

全球导航卫星系统 (GNSS) 是解决室外定位问题的有效且价格合理的解决方案。当与实时运动学 (RTK) 等精确定位技术相结合时，厘米级定位精度成为现实。这种性能适用于全新的要求苛刻的应用，包括高精度现场机器人操作。RTKRCV 是 RTKLIB 包的一部分，是最流行的实时 GNSS 精确定位开源解决方案之一。然而，缺乏与机器人操作系统 (ROS) 的集成，限制了机器人社区的采用。本文解决了这个限制，报告了一种将 RTKRCV 功能引入 ROS 的新实现。新功能，包括 ROS 发布和对 ROS 服务的控制，无缝引入，以确保与所有原始选项完全兼容。此外，新的观测同步方案提高了解决方案的一致性，特别是与移动基线定位模式相关。提供了真实的应用示例来展示我们的 rtkrcv_ros 包的优势。为了社区利益，该软件作为开源包发布。