IRT NTRIP Client and Server Caster

This is the official package of ntrip utilities including two basic nodes:

1. ntrip_ros_node: written in c++, given ntrip server configurations:

   1. subscribing rover position in sensor_msgs::NavSatFix to update the GGA reference
   2. parsing and publishing RTCM1004, RTCM1005, RTCMv3 and RTCML1E1 messages
   3. (optinal) sending RTCM messages using Flatbuffers via UDP (for some real-time controllers with no ROS support)
   4. providing ROS service to update ntrip server configurations

2. reference_station_tracker: written in python, given rover position, automatically change the pre-defined ntrip server configurations (ip, reference station, user information) for

   1. ntrip_ros_node
   2. GNSS receivers (currently only NovAtel OEM7 and ublox via ublox ros)

Currently, both ROS2 and ROS1 are supported. The ROS1 version has not been validated for long-term operations.

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Dependencies:

1. ros2
2. irt_nav_common
3. novatel_oem7_msgs
4. geopy
5. paho mqtt
6. flatbuffers

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Suported GNSS Receivers:

1. NovAtel OEM7 (e.g., pwrpak7 or span)
2. Ublox F9P

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ToDos:

1. set optinal functionalities (e.g., flatbuffer) as optional if flautbuffer is not installed

Maintance:

1. Haoming Zhang