# ntrip-client

**Repository Path**: agiros/ntrip-client

## Basic Information

- **Project Name**: ntrip-client
- **Description**: ntrip-client
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-10-12
- **Last Updated**: 2025-12-03

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ROS NTRIP Client

## Description

ROS node that will communicate with an NTRP caster to receive RTCM connections and publish them on a ROS topic. Also works with virtual NTRIP servers by subscribing to NMEA
messages and sending them to the NTRIP server

#### Important Branches
There are two important branches that you may want to checkout:

* [ros](https://github.com/LORD-MicroStrain/ntrip_client/tree/ros) -- Contains ROS1 implementation for this node.
* [ros2](https://github.com/LORD-MicroStrain/ntrip_client/tree/ros2) -- Contains ROS2 implementation for this node.

## Build Instructions

#### Building from source
1. Install ROS2 and create a workspace: [Installing and Configuring Your ROS2 Environment](https://docs.ros.org/en/foxy/Tutorials/Configuring-ROS2-Environment.html)

2. Move the entire ntrip_client folder to the your_workspace/src directory.

3. Install rosdeps for this package: `rosdep install --from-paths ~/your_workspace/src --ignore-src -r -y`

4. Build your workspace:
    ```bash
    cd ~/your_workspace
    colcon build
    source ~/your_workspace/install/setup.bash
    ```        
    The source command may need to be run in each terminal prior to launching a ROS node.

#### Connect to a NTRIP caster or server

This is useful if you have access to an NTRIP caster or server that you want to connect to over the internet.

```bash
ros2 launch ntrip_client ntrip_client_launch.py
```

Optional launch parameters:
- **host**: Hostname or IP address of the NTRIP server to connect to.
- **port**: Port to connect to on the server. Default: `2101`
- **mountpoint**: Mountpoint to connect to on the NTRIP server.
- **ntrip_version**: Value to use for the `Ntrip-Version` header in the initial HTTP request to the caster.
- **authenticate**: Whether to authenticate with the server, or send an unauthenticated request. If set to true, `username`, and `password` must be supplied.
- **username**: Username to use when authenticating with the NTRIP server. Only used if `authenticate` is true
- **password**: Password to use when authenticating with the NTRIP server. Only used if `authenticate` is true
- **ssl**: Whether to connect with SSL. cert, key, and ca_cert options will only take effect if this is true
- **cert**: If the NTRIP caster is configured to use cert based authentication, you can use this option to specify the client certificate
- **key**: If the NTRIP caster is configured to use cert based authentication, you can use this option to specify the private key
- **ca_cert**: If the NTRIP caster uses self signed certs, or you need to use a different CA chain, this option can be used to specify a CA file
- **rtcm_message_packege**: Changes the type of ROS RTCM message published by this node. Defaults to `mavros_msgs`, but also supports `rtcm_msgs`

#### Connect to a NTRIP "device"

This is useful if you do not have an internet connection, but do have an NTRIP "device" that you want to receive connections from, such as the [MicroStrain 3DM-RTK](https://www.microstrain.com/inertial-sensors/3dm-rtk).

```bash
ros2 launch ntrip_client ntrip_serial_device_launch.py
```

Optional launch parameters:
- **port**: Serial port that the device is connected on. 
- **baudrate**: Baudrate to connect to the serial port at. Default 115200
- **rtcm_message_packege**: Changes the type of ROS RTCM message published by this node. Defaults to `mavros_msgs`, but also supports `rtcm_msgs`

#### Topics

This node currently only has three topics of interest:

* **/rtcm**: This node will publish the RTCM corrections received from the server to this topic as [RTCM messages](http://docs.ros.org/en/noetic/api/mavros_msgs/html/msg/RTCM.html). These messages can be consumed by nodes such as the [microstrain_inertial_driver](https://github.com/LORD-MicroStrain/microstrain_inertial)
    * **NOTE**: The type of message can be switched between [`mavros_msgs/RTCM`](https://github.com/mavlink/mavros/blob/ros2/mavros_msgs/msg/RTCM.msg) and [`rtcm_msgs/Message`](https://github.com/tilk/rtcm_msgs/blob/master/msg/Message.msg) using the `rtcm_message_package` parameter
* **/nmea**: This node will subscribe on this topic and receive [NMEA sentence messages](http://docs.ros.org/en/api/nmea_msgs/html/msg/Sentence.html) which it will forward to the NTRIP server. This is always needed when using a virtual NTRIP server or an NTRIP device
* **/fix**: This serves the same exact purpose as `/nmea`, but facilitates receiving global position that is not in NMEA format

## License
ntrip_client is released under the MIT License - see the `LICENSE` file in the source distribution.

Copyright (c)  2024, MicroStrain by HBK