Create ROS2 package for the GPS-module and NAV2 integration.

详细信息

In light of the commencement of Limo robotic platform testing at our company's testing facility, we're integrating the company-provided chassis, developed by AgileX, with state-of-the-art RTK boards, such as the SimpleSSR Kit from ArduSimple, to acquire centimeter-range GPS data.
Consequently, we are seeking a ROS2-developer capable of crafting a comprehensive ROS2-package. This package must initialize the simpleRTK2B-F9P Pro board, gather GPS data via RTK-SSR technology, and seamlessly publish this information within ROS 2 environment topics.
The resulting full-fledged ROS2-package for simpleSSR receivers and simpleRTK2B GPS boards, from now on referred to as the ROS2-GPS-module, will be subject to non-disclosure conditions and will be the exclusive property of the company. Hence, it cannot be released as open-source software or a public repository. The developer must create this ROS2-GPS-module as an entirely new application, refraining from utilizing code segments or partial copying from third-party software, even if open-source or publicly available.
While the ROS2-GPS-module may draw architecture inspiration from existing ROS1 packages compatible with simpleRTK2B GPS boards, it should stand as an independent entity, easily integrated into the ROS2 environment alongside the main Limo robot software. Furthermore, it must feature its own launch file for standalone operation and module functionality verification.
The module should support data output reassignment to alternate topics, mirroring configuration capabilities seen in other ROS2 packages for sonars, lidars, depth cameras, etc.
A primary objective involves demonstrating seamless integration of the ROS2-GPS-module into the NAV2 navigation package and its associated dependencies (ROS2_control, SLAM, Mapping packages, etc.), emphasizing ease of incorporation within these frameworks.