RTK

This project is about how I use RTK to make a AGV autopilot.

How I do it

• recording RTK data
• recording the AGV Chassis odometry data
• replay the odometry info to the AGV based on the the cloest RTK info

The accuracy of this project

This project accuracy is highly rely on the RTK. when I deploy the Base station in the crowed city it would not work well but when I deployed this system in the countryside of china. It works much more better

system content

• The teacar folder is C++ code about how I get data from the AGV Chassis through the CAN card and made a agv odometry. All those code is based on ROS.
• The utm.py is about get data from RTK. Since RTK only provid me the NEMA format data. I have to format it with UTM format. Which is easy to use.
• The rtk_recorder is the python script which I used to record the utm data and odometry in the same time
• The rtk_player is sort of make the AGV running by find the closet UTM~s odometry data and seng it back

hardwave

• can card is used by zlg can mini
• RTK is a SHENZHEN provider