Using ROS with Duro

The Robotic Operating System (ROS) is a set of open-source software libraries and tools that help you build robot applications. ROS uses a publish/subscribe model for data exchange. By installing a compatible driver, Duro can be used within ROS to obtain sensor data such as position, orientation, velocity or time.

Swift Navigation ROS 2 Driver

ROS 2 driver for Duro is published on GitHub repository at github.com/swift-nav/swiftnav-ros2.

Driver Features:

• Designed for ROS 2 Humble but also works with ROS 2 Foxy
• Developed and tested on Ubuntu 22.04 (ROS 2 Humble) and Ubuntu 20.04 (ROS 2 Foxy) platforms
• Supports Swift Navigation receivers and Starling Positioning Engine in Swift Binary Protocol (SBP)
• TCP Client and Serial communication interfaces
• SBP file playback
• SBP data logging
• Publishes ROS 2 standard and Swift Navigation proprietary topics
• Configurable time stamping
• Written in C++

Refer to GitHub repository for driver installation and usage details.

Third-Party Drivers

Multiple ROS drivers for Swift Navigation devices and Duro can be also found on the Internet. Examples:

• ETH Zurich ROS / ROS 2 drivers (Python and C++ versions): github.com/ethz-asl/ethz_piksi_ros.
• ROS / ROS 2 driver (C++): github.com/szenergy/duro_gps_driver.

Note: For the third-party ROS driver related questions and support please contact their authors/developers directly.