教程链接https://blog.csdn.net/handily_1/article/details/124613403?spm1001.2014.3001.5506RTK的使用一.检查设备连接(1)插入USB接口前终端下输入ls /dev/tty*(2)插入USB接口后终端下输入ls /dev/tty*(3)多出来的口就是RTK的串口我这里使用的是/dev/ttyUSB0二.串口助手读取数据此处需要给 移动端-小车上的RTK设备 供电(1)先安装sudo apt install cutecom(2)给USB权限sudo chmod 777 /dev/ttyUSB0(3)再查看setting处可修改USB口和波特率sudo cutecomsetting处可修改USB口Device:/dev/ttyUSB0波特率Baudrate:115200(4)点击open有数据流证明读取成功三.RTK驱动(1)修改USB口和波特率打开roscd nmea_navsat_driver/launch/编辑sudo gedit nmea_serial_driver.launch修改内容arg nameport default/dev/ttyUSB0 /arg namebaud default115200 /(2)给USB权限sudo chmod 777 /dev/ttyUSB0(3)运行nmea_serial_driver节点roslaunch nmea_navsat_driver nmea_serial_driver.launch(4)查看话题输出rostopic echo /fix有数据流证明启动RTK成功四.安装RTK驱动mea_navsat_driver包用于解析 NMEA 字符串并发布非常简单的 GPS 消息的包。(1)命令行安装sudo apt-get install ros-melodic-nmea-navsat-driver libgps-dev如无法定位根据安装的ros版本改为sudo apt-get install ros-noetic-nmea-navsat-driver libgps-dev若安装不成功源码编译安装(2)源码编译安装mkdir -p rtk/srccd rtk/srcgit clone https://github.com/ros-drivers/nmea_navsat_driver.gitcd ..catkin_make (此处我装了两个python,报错故改用catkin_make -DPYTHON_EXECUTABLE/usr/bin/python3)source ./devel/setup.bashroslaunch nmea_navsat_driver nmea_serial_driver.launch(3)roslaunch nmea_navsat_driver nmea_serial_driver.launch报错ImportError: No module named ‘serial‘[nmea_serial_driver_node-1] process has died [pid 9213, exit code 1,解决sudo apt install python3-pippip install pyserial