Inertial Sense IMU and GNSS fix NMEA messages output to a network port

This is a modified version of the ISNtripRoverExample project (tag 1.11.2) provided by Inertial Sense. IMU and GGA NMEA messages are output to a specified network port using UDP packets. These NMEA messages can then be parsed by another program such as is_gps_publisher_ros2.

Requirements

OS: Linux

Inertial Sense SDK tag 1.11.2

Inertial Sense firmware compatible with the 1.11.2 SDK

Tested using

Ubuntu 22.04 LTS
Intel NUC (x86)
Inertial Sense uINS

Example Output

UDP outputs captured using:

netcat -ul 25565

Sample output messages:

$GNGGA,165911.400,4439.69585,N,07500.06681,W,1,21,1.24,150.90,M,-33.80,M,,*45
$PIMU,2201.647,0.0259,0.0450,-0.0063,0.627,-0.114,-9.362*29

(Hello from Clarkson University)

Suggested setup instructions

(Assuming the Inertial Sense SDK has already been setup)

Navigate to 'ExampleProjects' directory of the SDK and run:

git clone https://github.com/arcater/ISNMEA.git
mkdir ISNMEA/build
cd ISNMEA/build
cmake ..
make

To run you must specify the serial port for the sensor. Output port for NMEA messages is optional (Defaults to 25565 if no value given):

./ISNMEA /dev/ttyACM0 (optional)outputport