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gnss_multipath_plugin

GPS Multipath Plugin in Gazebo

Depends on libpredict: https://github.com/la1k/libpredict

mkdir -p ros2_ws/src
cd ros2_ws/src

Clone the libpredict library into the workspace as it is a dependency

git clone https://github.com/la1k/libpredict.git

Clone the project:

git clone https://github.com/kpant14/gnss_multipath_plugin.git
cd ../
colcon build

Source the environment before executing the launch file

source ./install/setup.bash

Launch the project using either the HongKong model or the Purdue model

ros2 launch gnss_multipath_plugin hong_kong.launch.py
ros2 launch gnss_multipath_plugin purdue.launch.py

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GPS multipath simulation in Gazebo

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  • Makefile 45.7%
  • CMake 23.2%
  • Python 21.8%
  • C++ 5.1%
  • C 3.5%
  • Shell 0.7%