diff --git a/gnss_info/CMakeLists.txt b/gnss_info/CMakeLists.txt
index d2bcd31..2691eb3 100644
--- a/gnss_info/CMakeLists.txt
+++ b/gnss_info/CMakeLists.txt
@@ -12,6 +12,7 @@ find_package(catkin REQUIRED COMPONENTS
   cras_cpp_common
   geographic_msgs
   gnss_info_msgs
+  gnsstk_ros
   roscpp
 )
 
diff --git a/gnss_info/include/gnss_info/igs_satellite_metadata.h b/gnss_info/include/gnss_info/igs_satellite_metadata.h
index c7de014..b78164a 100644
--- a/gnss_info/include/gnss_info/igs_satellite_metadata.h
+++ b/gnss_info/include/gnss_info/igs_satellite_metadata.h
@@ -18,29 +18,7 @@
 namespace gnss_info
 {
 
-/**
- * \brief Get constellation name from the given PRN string like E03.
- * \param[in] prn String PRN.
- * \return Constellation name (one of `gnss_info_msgs::Enums::CONSTELLATION_*` values). If invalid, empty string.
- */
-std::string getConstellationFromPRN(const std::string& prn);
-
-/**
- * \brief Convert the given PRN string like E03 to integer like 3 and constellation name.
- * \param[in] prn The PRN string.
- * \return A pair containing the numeric PRN and constellation name.
- */
-cras::optional<std::pair<int32_t, std::string>> prnStringToInt(const std::string& prn);
-
-/**
- * \brief Convert the given numeric PRN and constellation to string PRN like E03.
- * \param[in] prn The numeric PRN.
- * \param[in] constellation Constellation name (one of `gnss_info_msgs::Enums::CONSTELLATION_*` values).
- * \return The PRN string.
- */
-cras::optional<std::string> prnIntToString(int32_t prn, const std::string& constellation);
-
-class IGSSatelliteMetadataPrivate;
+struct IGSSatelliteMetadataPrivate;
 
 /**
  * \brief Wrapper around IGS satellite catalog which contains information about all public GNSS satellites.
diff --git a/gnss_info/package.xml b/gnss_info/package.xml
index 28365bb..30889e2 100644
--- a/gnss_info/package.xml
+++ b/gnss_info/package.xml
@@ -24,6 +24,7 @@ SPDX-FileCopyrightText: Czech Technical University in Prague
   <build_depend>cras_cpp_common</build_depend>
   <build_depend>eigen</build_depend>
   <build_depend>gnsstk</build_depend>
+  <build_depend>gnsstk_ros</build_depend>
   <build_depend>libcurl-dev</build_depend>
   <build_depend>libjsoncpp-dev</build_depend>
   <build_depend>yaml-cpp</build_depend>
@@ -32,6 +33,7 @@ SPDX-FileCopyrightText: Czech Technical University in Prague
   <exec_depend>cras_cpp_common</exec_depend>
   <exec_depend>cv_bridge</exec_depend>
   <exec_depend>gnsstk</exec_depend>
+  <exec_depend>gnsstk_ros</exec_depend>
   <exec_depend>libcurl</exec_depend>
   <exec_depend>libjsoncpp</exec_depend>
   <exec_depend>python3-matplotlib</exec_depend>
diff --git a/gnss_info/src/ethz_satdb_provider.cpp b/gnss_info/src/ethz_satdb_provider.cpp
index 4350b78..19a4e6e 100644
--- a/gnss_info/src/ethz_satdb_provider.cpp
+++ b/gnss_info/src/ethz_satdb_provider.cpp
@@ -18,7 +18,6 @@
 #include <gnsstk/NavLibrary.hpp>
 #include <gnsstk/OrbitData.hpp>
 #include <gnsstk/Position.hpp>
-#include <gnsstk/YDSTime.hpp>
 #include <jsoncpp/json/json.h>
 
 #include <cras_cpp_common/expected.hpp>
@@ -26,6 +25,9 @@
 #include <gnss_info/ethz_satdb_provider.h>
 #include <gnss_info/igs_satellite_metadata.h>
 #include <gnss_info_msgs/Enums.h>
+#include <gnsstk_ros/constellations.h>
+#include <gnsstk_ros/position.h>
+#include <gnsstk_ros/time.h>
 #include <ros/ros.h>
 
 #include "tle.h"  // NOLINT
@@ -55,7 +57,7 @@ struct DayIndex
 
     explicit operator ros::Time() const
     {
-        struct tm start{};
+        tm start{};
         start.tm_year = this->year - 1900;
         start.tm_mon = this->month - 1;
         start.tm_mday = this->day;
@@ -83,51 +85,6 @@ struct std::hash<gnss_info::DayIndex>
 namespace gnsstk
 {
 
-ros::Time gnssTimeToRosTime(const CommonTime& commonTime)
-{
-    long days, secs, daysOffset;  // NOLINT(runtime/int)
-    double frac;
-    YDSTime(1970, 0, 0.0).convertToCommonTime().get(daysOffset, secs, frac);
-    commonTime.get(days, secs, frac);
-    return ros::Time() +
-        ros::Duration::DAY * (days - daysOffset) +
-        ros::Duration::SECOND * secs +
-        ros::Duration::SECOND * frac;
-}
-
-CommonTime rosTimeToGnssTime(const ros::Time& rosTime)
-{
-    auto commonTime = YDSTime(1970, 0, 0.0).convertToCommonTime();
-    commonTime.addDays(rosTime.sec / ros::Duration::DAY.sec);
-    commonTime.addSeconds(static_cast<long>(rosTime.sec % ros::Duration::DAY.sec));  // NOLINT(runtime/int)
-    commonTime.addSeconds(rosTime.nsec * 1e-9);
-    return commonTime;
-}
-
-cras::optional<SatID> satelliteInfoToSatID(const gnss_info_msgs::SatelliteInfo& info)
-{
-    const auto maybeConstellationAndPrn = gnss_info::prnStringToInt(info.prn);
-    if (!maybeConstellationAndPrn.has_value())
-        return cras::nullopt;
-    const auto& [prn, constellationStr] = *maybeConstellationAndPrn;
-    SatelliteSystem system;
-    if (constellationStr == gnss_info_msgs::Enums::CONSTELLATION_GPS)
-        system = SatelliteSystem::GPS;
-    else if (constellationStr == gnss_info_msgs::Enums::CONSTELLATION_GALILEO)
-        system = SatelliteSystem::Galileo;
-    else if (constellationStr == gnss_info_msgs::Enums::CONSTELLATION_GLONASS)
-        system = SatelliteSystem::Glonass;
-    else if (constellationStr == gnss_info_msgs::Enums::CONSTELLATION_BEIDOU)
-        system = SatelliteSystem::BeiDou;
-    else if (constellationStr == gnss_info_msgs::Enums::CONSTELLATION_NAVIC)
-        system = SatelliteSystem::IRNSS;
-    else if (constellationStr == gnss_info_msgs::Enums::CONSTELLATION_QZSS)
-        system = SatelliteSystem::QZSS;
-    else
-        return cras::nullopt;
-    return SatID(prn, system);
-}
-
 class TLEOrbitData : public OrbitData
 {
 public:
@@ -228,7 +185,7 @@ class TLEOrbitData : public OrbitData
         const tle_t tleList{1, 1, &this->tle};
 
         double rs[6];
-        const auto rosWhen = gnssTimeToRosTime(when);
+        const auto rosWhen = gnsstk_ros::convert(when);
         gtime_t gtime {rosWhen.sec, rosWhen.nsec * 1e-9};
         if (!tle_pos(utc2gpst(gtime), "", this->tle.satno, "", &tleList, nullptr, rs))
         {
@@ -334,7 +291,7 @@ class TLENavDataFactory : public NavDataFactoryWithStoreFile
                 return true;
 
             const auto& info = TLENavDataFactory::satelliteInfo[satcatID];
-            const auto satId = satelliteInfoToSatID(info);
+            const auto satId = gnsstk_ros::satelliteInfoToSatID(info);
             if (!satId.has_value())
                 return false;
 
@@ -345,7 +302,7 @@ class TLENavDataFactory : public NavDataFactoryWithStoreFile
             navOut->signal.nav = NavType::Any;
             navOut->signal.messageType = NavMessageType::Almanac;
             ros::Time epoch(navIn.epoch.time, static_cast<uint32_t>(navIn.epoch.sec * 1e9));
-            navOut->timeStamp = rosTimeToGnssTime(epoch);
+            navOut->timeStamp = gnsstk_ros::convert(epoch);
 
             return true;
         }
@@ -423,7 +380,7 @@ cras::expected<bool, std::string> EthzSatdbProviderPrivate::download(const DayIn
         };
 
         std::stringstream readBuffer;
-        const auto url = cras::format(urlFormat, prefix.c_str(), startDate.c_str(), endDate.c_str());
+        const auto url = cras::format(this->urlFormat, prefix.c_str(), startDate.c_str(), endDate.c_str());
         const auto curl = curl_easy_init();
         curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
         curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1u);
@@ -617,7 +574,7 @@ cras::expected<std::unordered_map<uint32_t, gnss_info_msgs::SatellitePosition>,
 EthzSatdbProvider::getECEFPositions(
     const ros::Time& time, const std::unordered_map<uint32_t, gnss_info_msgs::SatelliteInfo>& satellites)
 {
-    const auto when = gnsstk::rosTimeToGnssTime(time);
+    const auto when = gnsstk_ros::convert(time);
 
     auto when1 = when, when2 = when;
     when1.addSeconds(-ros::Duration::DAY.sec * 3.0);
@@ -633,7 +590,7 @@ EthzSatdbProvider::getECEFPositions(
     std::list<std::string> errors;
     for (const auto& [satcatID, info] : satellites)
     {
-        const auto maybeSatID = gnsstk::satelliteInfoToSatID(info);
+        const auto maybeSatID = gnsstk_ros::satelliteInfoToSatID(info);
         if (!maybeSatID.has_value())
         {
             errors.push_back(cras::format("Failed to determine PRN of satellite %u (%s) at time %s.",
@@ -655,16 +612,7 @@ EthzSatdbProvider::getECEFPositions(
                 satcatID, info.name.c_str(), cras::to_string(time).c_str()));
             continue;
         }
-
-        gnss_info_msgs::SatellitePosition position;
-        position.satcat_id = satcatID;
-        position.position.x = xvt.x[0];
-        position.position.y = xvt.x[1];
-        position.position.z = xvt.x[2];
-        position.velocity.x = xvt.v[0];
-        position.velocity.y = xvt.v[1];
-        position.velocity.z = xvt.v[2];
-        positions[satcatID] = position;
+        positions[satcatID] = gnsstk_ros::convert(xvt, satcatID);
     }
 
     if (!errors.empty() && positions.empty())
@@ -682,16 +630,14 @@ EthzSatdbProvider::getSkyView(
     const ros::Time& time, const geographic_msgs::GeoPoint& receiverPosition, const double elevationMaskDeg,
     const std::unordered_map<uint32_t, gnss_info_msgs::SatellitePosition>& satelliteECEFPositions)
 {
-    const auto& Geodetic = gnsstk::Position::CoordinateSystem::Geodetic;
-    const auto& Cartesian = gnsstk::Position::CoordinateSystem::Cartesian;
-
-    gnsstk::Position recPos{receiverPosition.latitude, receiverPosition.longitude, receiverPosition.altitude, Geodetic};
-    recPos.transformTo(Cartesian);  // all following computations use Cartesian internally
+    gnsstk::Position recPos = gnsstk_ros::convert(receiverPosition);
+    // all following computations use Cartesian internally
+    recPos.transformTo(gnsstk::Position::CoordinateSystem::Cartesian);
 
     std::unordered_map<uint32_t, gnss_info_msgs::SatelliteSkyPosition> skyView;
     for (const auto& [satcatID, ecefPose] : satelliteECEFPositions)
     {
-        gnsstk::Position satPos {ecefPose.position.x, ecefPose.position.y, ecefPose.position.z, Cartesian};
+        const gnsstk::Position satPos = gnsstk_ros::convert(ecefPose.position);
         const auto elDeg = recPos.elevation(satPos);
         if (elDeg < elevationMaskDeg)
             continue;
diff --git a/gnss_info/src/igs_satellite_metadata.cpp b/gnss_info/src/igs_satellite_metadata.cpp
index 414f17b..69dac4d 100644
--- a/gnss_info/src/igs_satellite_metadata.cpp
+++ b/gnss_info/src/igs_satellite_metadata.cpp
@@ -25,6 +25,8 @@
 #include <gnss_info/igs_satellite_metadata.h>
 #include <gnss_info_msgs/Enums.h>
 #include <gnss_info_msgs/SatelliteInfo.h>
+#include <gnsstk_ros/constellations.h>
+#include <gnsstk_ros/time.h>
 #include <ros/ros.h>
 #include <ros/package.h>
 
@@ -38,74 +40,7 @@ std::string longSinexTime(const gnsstk::Sinex::Time& t)
     return "20" + static_cast<std::string>(t);
 }
 
-std::string getConstellationFromPRN(const std::string& prn)
-{
-    if (prn.empty())
-        return "";
-
-    switch (prn[0])
-    {
-        case 'G':
-            return gnss_info_msgs::Enums::CONSTELLATION_GPS;
-        case 'R':
-            return gnss_info_msgs::Enums::CONSTELLATION_GLONASS;
-        case 'E':
-            return gnss_info_msgs::Enums::CONSTELLATION_GALILEO;
-        case 'C':
-            return gnss_info_msgs::Enums::CONSTELLATION_BEIDOU;
-        case 'J':
-            return gnss_info_msgs::Enums::CONSTELLATION_QZSS;
-        case 'I':
-            return gnss_info_msgs::Enums::CONSTELLATION_NAVIC;
-        default:
-            return "";
-    }
-}
-
-cras::optional<std::pair<int32_t, std::string>> prnStringToInt(const std::string& prn)
-{
-    auto prnString = prn;
-    if (std::isupper(prnString[0]))
-        prnString = prnString.substr(1);
-
-    const auto constellation = getConstellationFromPRN(prn);
-    if (constellation.empty())
-        return cras::nullopt;
-
-    try
-    {
-        // Get rid of leading zeros, they would trick parseInt32 into parsing as octal
-        while (!prnString.empty() && prnString[0] == '0')
-            prnString = prnString.substr(1);
-        return std::make_pair(cras::parseInt32(prnString), constellation);
-    }
-    catch (const std::invalid_argument& e)
-    {
-        return cras::nullopt;
-    }
-}
-
-cras::optional<std::string> prnIntToString(const int32_t prn, const std::string& constellation)
-{
-    std::string prefix;
-
-    if (constellation == gnss_info_msgs::Enums::CONSTELLATION_GPS)
-        prefix = "G";
-    if (constellation == gnss_info_msgs::Enums::CONSTELLATION_GLONASS)
-        prefix = "R";
-    if (constellation == gnss_info_msgs::Enums::CONSTELLATION_GALILEO)
-        prefix = "E";
-    if (constellation == gnss_info_msgs::Enums::CONSTELLATION_BEIDOU)
-        prefix = "C";
-    if (constellation == gnss_info_msgs::Enums::CONSTELLATION_QZSS)
-        prefix = "J";
-    if (constellation == gnss_info_msgs::Enums::CONSTELLATION_NAVIC)
-        prefix = "I";
-
-    return prefix + std::to_string(prn);
-}
-
-struct SatelliteIdentifier : public gnsstk::Sinex::DataType
+struct SatelliteIdentifier : gnsstk::Sinex::DataType
 {
     static const std::string BLOCK_TITLE;
     static const size_t MIN_LINE_LEN = 40;
@@ -395,7 +330,7 @@ class IgsSinexBlock : public gnsstk::Sinex::Block<T>
 class IgsSinexData : public gnsstk::Sinex::Data
 {
 public:
-    IgsSinexData() : gnsstk::Sinex::Data()
+    IgsSinexData()
     {
         gnsstk::Sinex::Data::initBlockFactory();
         auto& factory = gnsstk::Sinex::Data::blockFactory;
@@ -701,14 +636,7 @@ ros::Time sinexTimeToRosTime(const gnsstk::Sinex::Time& t)
 {
     if (t.year == 0 && t.doy == 0 && t.sod == 0)  // special meaning of all zeros
         return ros::Time::MAX;
-    long days, secs, daysOffset;  // NOLINT(runtime/int)
-    double frac;
-    gnsstk::YDSTime(1970, 0, 0.0).convertToCommonTime().get(daysOffset, secs, frac);
-    static_cast<gnsstk::CommonTime>(t).get(days, secs, frac);
-    return ros::Time() +
-        ros::Duration::DAY * (days - daysOffset) +
-        ros::Duration::SECOND * secs +
-        ros::Duration::SECOND * frac;
+    return gnsstk_ros::convert(t);
 }
 
 std::unordered_map<uint32_t, gnss_info_msgs::SatelliteInfo>
@@ -762,30 +690,8 @@ cras::optional<gnss_info_msgs::SatelliteInfo> IGSSatelliteMetadata::getSatellite
     msg.satcat_id = satcatID;
     msg.name = cras::split(satinfo.comment, ";", 1).back();
     cras::strip(msg.name);
-    switch (svn[0])
-    {
-        case 'G':
-            msg.constellation = gnss_info_msgs::Enums::CONSTELLATION_GPS;
-            break;
-        case 'R':
-            msg.constellation = gnss_info_msgs::Enums::CONSTELLATION_GLONASS;
-            break;
-        case 'E':
-            msg.constellation = gnss_info_msgs::Enums::CONSTELLATION_GALILEO;
-            break;
-        case 'C':
-            msg.constellation = gnss_info_msgs::Enums::CONSTELLATION_BEIDOU;
-            break;
-        case 'J':
-            msg.constellation = gnss_info_msgs::Enums::CONSTELLATION_QZSS;
-            break;
-        case 'I':
-            msg.constellation = gnss_info_msgs::Enums::CONSTELLATION_NAVIC;
-            break;
-        default:
-            msg.constellation = "";
-            break;
-    }
+    const auto maybeConstellation = gnsstk_ros::getRosConstellationFromSVN(svn);
+    msg.constellation = maybeConstellation ? *maybeConstellation : "";
 
     // Find PRN valid for the given time
     for (const auto& prnItem : this->data->svnToSatPRN[svn])
@@ -853,8 +759,8 @@ cras::optional<gnss_info_msgs::SatelliteInfo> IGSSatelliteMetadata::getSatellite
 cras::optional<gnss_info_msgs::SatelliteInfo> IGSSatelliteMetadata::getSatelliteByPRN(
     const int32_t prn, const std::string& constellation, const ros::Time& time)
 {
-    const auto prnString = prnIntToString(prn, constellation);
-    if (!prnString)
+    const auto prnString = gnsstk_ros::prnIntToString(prn, constellation);
+    if (!prnString.has_value() || !prnString->empty())
         return cras::nullopt;
 
     return this->getSatelliteByPRN(*prnString, time);
diff --git a/gnsstk_ros/CMakeLists.txt b/gnsstk_ros/CMakeLists.txt
new file mode 100644
index 0000000..3c14bb7
--- /dev/null
+++ b/gnsstk_ros/CMakeLists.txt
@@ -0,0 +1,69 @@
+# SPDX-License-Identifier: BSD-3-Clause
+# SPDX-FileCopyrightText: Czech Technical University in Prague
+
+cmake_minimum_required(VERSION 3.10.2)
+project(gnsstk_ros)
+
+set(CMAKE_CXX_STANDARD 17)
+
+find_package(catkin REQUIRED COMPONENTS
+  cras_cpp_common
+  geographic_msgs
+  geometry_msgs
+  gnss_info_msgs
+  roscpp
+)
+
+find_package(GNSSTK REQUIRED)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS geographic_msgs geometry_msgs gnss_info_msgs roscpp
+)
+
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+add_library(${PROJECT_NAME} src/constellations.cpp src/position.cpp src/time.cpp)
+target_link_libraries(${PROJECT_NAME} PUBLIC ${catkin_LIBRARIES} PRIVATE gnsstk)
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslint REQUIRED)
+
+  # catkin_lint - checks validity of package.xml and CMakeLists.txt
+  # ROS buildfarm calls this without any environment and with empty rosdep cache,
+  # so we have problems reading the list of packages from env
+  # see https://github.com/ros-infrastructure/ros_buildfarm/issues/923
+  if(DEFINED ENV{ROS_HOME})
+    #catkin_lint: ignore_once env_var
+    set(ROS_HOME "$ENV{ROS_HOME}")
+  else()
+    #catkin_lint: ignore_once env_var
+    set(ROS_HOME "$ENV{HOME}/.ros")
+  endif()
+
+  #catkin_lint: ignore_once env_var
+  if(DEFINED ENV{ROS_ROOT} AND EXISTS "${ROS_HOME}/rosdep/sources.cache")
+    roslint_custom(catkin_lint "-W2" .)
+  endif()
+
+  # Roslint C++ - checks formatting and some other rules for C++ files
+  file(GLOB_RECURSE ROSLINT_SRC src/*.cpp include/${PROJECT_NAME}/*.h)
+
+  set(ROSLINT_CPP_OPTS "--extensions=h,hpp,hh,c,cpp,cc;--linelength=120;--filter=\
+    -build/header_guard,-readability/namespace,-whitespace/braces,-runtime/references,\
+    -build/c++11,-readability/nolint,-readability/todo,-legal/copyright,-build/namespaces")
+  roslint_cpp(${ROSLINT_SRC})
+
+  roslint_add_test()
+endif()
\ No newline at end of file
diff --git a/gnsstk_ros/LICENSE b/gnsstk_ros/LICENSE
new file mode 100644
index 0000000..a5524fb
--- /dev/null
+++ b/gnsstk_ros/LICENSE
@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2023, Czech Technical University in Prague
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/gnsstk_ros/README.md b/gnsstk_ros/README.md
new file mode 100644
index 0000000..795df43
--- /dev/null
+++ b/gnsstk_ros/README.md
@@ -0,0 +1,8 @@
+<!--
+SPDX-License-Identifier: BSD-3-Clause
+SPDX-FileCopyrightText: Czech Technical University in Prague
+-->
+
+# gnsstk_ros
+
+Bindings between GNSSTk library and ROS.
\ No newline at end of file
diff --git a/gnsstk_ros/include/gnsstk_ros/constellations.h b/gnsstk_ros/include/gnsstk_ros/constellations.h
new file mode 100644
index 0000000..ffe3db9
--- /dev/null
+++ b/gnsstk_ros/include/gnsstk_ros/constellations.h
@@ -0,0 +1,69 @@
+// SPDX-License-Identifier: BSD-3-Clause
+// SPDX-FileCopyrightText: Czech Technical University in Prague
+
+#pragma once
+
+#include <string>
+#include <utility>
+
+#include <gnsstk/SatID.hpp>
+#include <gnsstk/SatelliteSystem.hpp>
+
+#include <cras_cpp_common/optional.hpp>
+#include <gnss_info_msgs/SatelliteInfo.h>
+
+namespace gnsstk_ros
+{
+
+/**
+ * \brief Get constellation name from the given PRN string like E03.
+ * \param[in] prn String PRN.
+ * \return Constellation name (one of `gnss_info_msgs::Enums::CONSTELLATION_*` values). If invalid, nullopt.
+ */
+cras::optional<std::string> getRosConstellationFromPRN(const std::string& prn);
+
+/**
+ * \brief Get constellation name from the given SVN string like E203.
+ * \param[in] svn The SVN of the satellite.
+ * \return Constellation name (one of `gnss_info_msgs::Enums::CONSTELLATION_*` values). If invalid, nullopt.
+ */
+cras::optional<std::string> getRosConstellationFromSVN(const std::string& svn);
+
+/**
+ * \brief Convert the given PRN string like E03 to integer like 3 and constellation name.
+ * \param[in] prn The PRN string.
+ * \return A pair containing the numeric PRN and constellation name.
+ */
+cras::optional<std::pair<int32_t, std::string>> prnStringToInt(const std::string& prn);
+
+/**
+ * \brief Convert the given numeric PRN and constellation to string PRN like E03.
+ * \param[in] prn The numeric PRN.
+ * \param[in] constellation Constellation name (one of `gnss_info_msgs::Enums::CONSTELLATION_*` values).
+ * \return The PRN string.
+ */
+cras::optional<std::string> prnIntToString(int32_t prn, const std::string& constellation);
+
+/**
+ * \brief Convert the gnss_info_msgs constellation string to gnsstk constellation enum.
+ * \param[in] constellation The constellation string. One of `gnss_info_msgs::Enums::CONSTELLATION_*`.
+ * \return The equivalent gnsstk constellation. Return `Unknown` if there is no mapping. Return `nullopt` if
+ *         `constellation` is empty.
+ */
+cras::optional<gnsstk::SatelliteSystem> rosConstellationToGnsstkSatelliteSystem(const std::string& constellation);
+
+/**
+ * \brief Convert the gnsstk constellation enum to gnss_info_msgs constellation string.
+ * \param constellation The gnsstk constellation enum value.
+ * \return The equivalent `gnss_info_msgs::Enums::CONSTELLATION_*`. Return `nullopt` if there is no mapping.
+ */
+cras::optional<std::string> gnsstkSatelliteSystemRosConstellation(const gnsstk::SatelliteSystem& constellation);
+
+/**
+ * \brief Convert the given satellite info to non-wildcard gnsstk SatID.
+ * \param info Information about the satellite.
+ * \return The SatID object of the given satellite. `nullopt` if identifying the satellite is not possible.
+ */
+cras::optional<gnsstk::SatID> satelliteInfoToSatID(const gnss_info_msgs::SatelliteInfo& info);
+
+}
diff --git a/gnsstk_ros/include/gnsstk_ros/position.h b/gnsstk_ros/include/gnsstk_ros/position.h
new file mode 100644
index 0000000..9f87412
--- /dev/null
+++ b/gnsstk_ros/include/gnsstk_ros/position.h
@@ -0,0 +1,52 @@
+// SPDX-License-Identifier: BSD-3-Clause
+// SPDX-FileCopyrightText: Czech Technical University in Prague
+
+#pragma once
+
+#include <gnsstk/Position.hpp>
+#include <gnsstk/Xvt.hpp>
+
+#include <geographic_msgs/GeoPoint.h>
+#include <geometry_msgs/Point.h>
+#include <gnss_info_msgs/SatellitePosition.h>
+
+namespace gnsstk_ros
+{
+
+/**
+ * \brief Convert the ROS GeoPoint message to gnsstk Position with Geodetic type.
+ * \param[in] position The WGS84 position to convert.
+ * \return The corresponding gnsstk position object.
+ */
+gnsstk::Position convert(const geographic_msgs::GeoPoint& position);
+
+/**
+ * \brief Convert the given gnsstk Position object to WGS84 ROS GeoPoint message.
+ * \param[in] position The gnsstk position to convert.
+ * \return The corresponding ROS GeoPoint.
+ */
+geographic_msgs::GeoPoint convertToGeographicMsg(const gnsstk::Position& position);
+
+/**
+ * \brief Convert the ROS Point ECEF position to gnsstk Position with Cartesian type.
+ * \param[in] position The ECEF position to convert.
+ * \return The corresponding gnsstk position object.
+ */
+gnsstk::Position convert(const geometry_msgs::Point& position);
+
+/**
+ * \brief Convert the given gnsstk Position object to ECEF ROS Point message.
+ * \param[in] position The gnsstk position to convert.
+ * \return The corresponding ROS Point in ECEF coordinates.
+ */
+geometry_msgs::Point convertToCartesianMsg(const gnsstk::Position& position);
+
+/**
+ * \brief Convert the given position and velocity to ROS SatellitePosition message.
+ * \param[in] xvt The position and velocity as determined by gnsstk.
+ * \param[in] satcatId ID of the satellite in the satellite catalog.
+ * \return The ROS SatellitePosition message corresponding to the given parameter.
+ */
+gnss_info_msgs::SatellitePosition convert(const gnsstk::Xvt& xvt, uint32_t satcatId);
+
+}
diff --git a/gnsstk_ros/include/gnsstk_ros/time.h b/gnsstk_ros/include/gnsstk_ros/time.h
new file mode 100644
index 0000000..772c549
--- /dev/null
+++ b/gnsstk_ros/include/gnsstk_ros/time.h
@@ -0,0 +1,45 @@
+// SPDX-License-Identifier: BSD-3-Clause
+// SPDX-FileCopyrightText: Czech Technical University in Prague
+
+#pragma once
+
+#include <gnsstk/CommonTime.hpp>
+
+#include <ros/time.h>
+
+namespace gnsstk_ros
+{
+
+/**
+ * \brief UNIX epoch (1 Jan 1970) represented in gnsstk CommonTime means. Static values for efficient computations.
+ */
+struct UnixEpoch
+{
+    static const gnsstk::CommonTime gnsstkCommonTime;  //!< CommonTime of the UNIX epoch.
+    //! Number of days between CommonTime beginning of time and UNIX epoch start.
+    static const long gnsstkDaysOffset;  // NOLINT(runtime/int)
+};
+
+/**
+ * \brief Get the number of days stored in the given time object.
+ * \param[in] time The time to get days of.
+ * \return The number of days.
+ */
+long getDays(const gnsstk::CommonTime& time);  // NOLINT(runtime/int)
+
+/**
+ * \brief Convert the given gnsstk time to ROS time.
+ * \param[in] commonTime The time to convert.
+ * \return The equivalent ROS time.
+ * \throws std::runtime_error If the time cannot be represented in ROS.
+ */
+ros::Time convert(const gnsstk::CommonTime& commonTime);
+
+/**
+ * \brief Covnert the given ROS time to gnsstk time.
+ * \param[in] rosTime The ROS time to convert.
+ * \return The equivalent gnsstk time.
+ */
+gnsstk::CommonTime convert(const ros::Time& rosTime);
+
+}
diff --git a/gnsstk_ros/package.xml b/gnsstk_ros/package.xml
new file mode 100644
index 0000000..b457c6d
--- /dev/null
+++ b/gnsstk_ros/package.xml
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<!--
+SPDX-License-Identifier: BSD-3-Clause
+SPDX-FileCopyrightText: Czech Technical University in Prague
+-->
+
+<package format="3">
+  <name>gnsstk_ros</name>
+  <version>1.0.0</version>
+  <description>ROS bindings for GNSSTk library.</description>
+
+  <author email="peckama2@fel.cvut.cz">Martin Pecka</author>
+  <maintainer email="peckama2@fel.cvut.cz">Martin Pecka</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>cras_cpp_common</depend>
+  <depend>geographic_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>gnss_info_msgs</depend>
+  <depend>roscpp</depend>
+
+  <build_depend>gnsstk</build_depend>
+  <exec_depend>gnsstk</exec_depend>
+
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-catkin-lint</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-catkin-lint</test_depend>
+  <test_depend>roslint</test_depend>
+</package>
diff --git a/gnsstk_ros/src/constellations.cpp b/gnsstk_ros/src/constellations.cpp
new file mode 100644
index 0000000..79c4597
--- /dev/null
+++ b/gnsstk_ros/src/constellations.cpp
@@ -0,0 +1,152 @@
+// SPDX-License-Identifier: BSD-3-Clause
+// SPDX-FileCopyrightText: Czech Technical University in Prague
+
+#include <string>
+#include <utility>
+
+#include <gnsstk/SatID.hpp>
+
+#include <cras_cpp_common/optional.hpp>
+#include <cras_cpp_common/string_utils.hpp>
+#include <gnsstk_ros/constellations.h>
+#include <gnss_info_msgs/Enums.h>
+#include <gnss_info_msgs/SatelliteInfo.h>
+
+namespace gnsstk_ros
+{
+
+cras::optional<std::string> getRosConstellationFromPRN(const std::string& prn)
+{
+    if (prn.empty())
+        return cras::nullopt;
+
+    switch (prn[0])
+    {
+        case 'G':
+            return gnss_info_msgs::Enums::CONSTELLATION_GPS;
+        case 'R':
+            return gnss_info_msgs::Enums::CONSTELLATION_GLONASS;
+        case 'E':
+            return gnss_info_msgs::Enums::CONSTELLATION_GALILEO;
+        case 'C':
+            return gnss_info_msgs::Enums::CONSTELLATION_BEIDOU;
+        case 'J':
+            return gnss_info_msgs::Enums::CONSTELLATION_QZSS;
+        case 'I':
+            return gnss_info_msgs::Enums::CONSTELLATION_NAVIC;
+        default:
+            return cras::nullopt;
+    }
+}
+
+cras::optional<std::string> getRosConstellationFromSVN(const std::string& svn)
+{
+    // The implementation is actually the same.
+    return getRosConstellationFromPRN(svn);
+}
+
+cras::optional<std::pair<int32_t, std::string>> prnStringToInt(const std::string& prn)
+{
+    const auto constellation = getRosConstellationFromPRN(prn);
+    if (!constellation.has_value())
+        return cras::nullopt;
+
+    auto prnString = prn.substr(1);
+
+    // Get rid of leading zeros, they would trick parseInt32 into parsing as octal
+    while (!prnString.empty() && prnString[0] == '0')
+        prnString = prnString.substr(1);
+    if (prnString.empty())
+        return cras::nullopt;
+
+    try
+    {
+        return std::make_pair(cras::parseInt32(prnString), *constellation);
+    }
+    catch (const std::invalid_argument&)  // integer parsing failed
+    {
+        return cras::nullopt;
+    }
+}
+
+cras::optional<std::string> prnIntToString(const int32_t prn, const std::string& constellation)
+{
+    std::string prefix;
+
+    if (constellation == gnss_info_msgs::Enums::CONSTELLATION_GPS)
+        prefix = "G";
+    else if (constellation == gnss_info_msgs::Enums::CONSTELLATION_GLONASS)
+        prefix = "R";
+    else if (constellation == gnss_info_msgs::Enums::CONSTELLATION_GALILEO)
+        prefix = "E";
+    else if (constellation == gnss_info_msgs::Enums::CONSTELLATION_BEIDOU)
+        prefix = "C";
+    else if (constellation == gnss_info_msgs::Enums::CONSTELLATION_QZSS)
+        prefix = "J";
+    else if (constellation == gnss_info_msgs::Enums::CONSTELLATION_NAVIC)
+        prefix = "I";
+    else
+        return cras::nullopt;
+
+    return prefix + std::to_string(prn);
+}
+
+cras::optional<gnsstk::SatelliteSystem> rosConstellationToGnsstkSatelliteSystem(const std::string& constellation)
+{
+    if (constellation.empty())
+        return gnsstk::SatelliteSystem::Unknown;
+    if (constellation == gnss_info_msgs::Enums::CONSTELLATION_GPS)
+        return gnsstk::SatelliteSystem::GPS;
+    if (constellation == gnss_info_msgs::Enums::CONSTELLATION_GALILEO)
+        return gnsstk::SatelliteSystem::Galileo;
+    if (constellation == gnss_info_msgs::Enums::CONSTELLATION_GLONASS)
+        return gnsstk::SatelliteSystem::Glonass;
+    if (constellation == gnss_info_msgs::Enums::CONSTELLATION_BEIDOU)
+        return gnsstk::SatelliteSystem::BeiDou;
+    if (constellation == gnss_info_msgs::Enums::CONSTELLATION_NAVIC)
+        return gnsstk::SatelliteSystem::IRNSS;
+    if (constellation == gnss_info_msgs::Enums::CONSTELLATION_QZSS)
+        return gnsstk::SatelliteSystem::QZSS;
+    return gnsstk::SatelliteSystem::Unknown;
+}
+
+cras::optional<std::string> gnsstkSatelliteSystemRosConstellation(const gnsstk::SatelliteSystem& constellation)
+{
+    switch (constellation)
+    {
+        case gnsstk::SatelliteSystem::GPS:
+            return gnss_info_msgs::Enums::CONSTELLATION_GPS;
+        case gnsstk::SatelliteSystem::Galileo:
+            return gnss_info_msgs::Enums::CONSTELLATION_GALILEO;
+        case gnsstk::SatelliteSystem::Glonass:
+            return gnss_info_msgs::Enums::CONSTELLATION_GLONASS;
+        case gnsstk::SatelliteSystem::BeiDou:
+            return gnss_info_msgs::Enums::CONSTELLATION_BEIDOU;
+        case gnsstk::SatelliteSystem::IRNSS:
+            return gnss_info_msgs::Enums::CONSTELLATION_NAVIC;
+        case gnsstk::SatelliteSystem::QZSS:
+            return gnss_info_msgs::Enums::CONSTELLATION_QZSS;
+        default:
+            return cras::nullopt;
+    }
+}
+
+cras::optional<gnsstk::SatID> satelliteInfoToSatID(const gnss_info_msgs::SatelliteInfo& info)
+{
+    const auto maybeConstellationAndPrn = prnStringToInt(info.prn);
+    if (!maybeConstellationAndPrn.has_value())
+        return cras::nullopt;
+
+    const auto& [prn, constellationStr] = *maybeConstellationAndPrn;
+
+    auto maybeSatelliteSystem = rosConstellationToGnsstkSatelliteSystem(constellationStr);
+    if (!maybeSatelliteSystem.has_value())
+        maybeSatelliteSystem = rosConstellationToGnsstkSatelliteSystem(info.constellation);
+    if (!maybeSatelliteSystem.has_value())
+        return cras::nullopt;
+
+    const auto system = *maybeSatelliteSystem;
+    return gnsstk::SatID(prn, system);
+}
+
+}
diff --git a/gnsstk_ros/src/position.cpp b/gnsstk_ros/src/position.cpp
new file mode 100644
index 0000000..9bb4c8a
--- /dev/null
+++ b/gnsstk_ros/src/position.cpp
@@ -0,0 +1,58 @@
+// SPDX-License-Identifier: BSD-3-Clause
+// SPDX-FileCopyrightText: Czech Technical University in Prague
+
+#include <gnsstk/Position.hpp>
+
+#include <geographic_msgs/GeoPoint.h>
+#include <geometry_msgs/Point.h>
+#include <gnsstk_ros/position.h>
+
+namespace gnsstk_ros
+{
+
+gnsstk::Position convert(const geographic_msgs::GeoPoint& position)
+{
+    return {position.latitude, position.longitude, position.altitude, gnsstk::Position::CoordinateSystem::Geodetic};
+}
+
+geographic_msgs::GeoPoint convertToGeographicMsg(const gnsstk::Position& position)
+{
+    auto pos = position;
+    pos.transformTo(gnsstk::Position::CoordinateSystem::Geodetic);
+    geographic_msgs::GeoPoint msg;
+    msg.latitude = pos.geodeticLatitude();
+    msg.longitude = pos.longitude();
+    msg.altitude = pos.height();
+    return msg;
+}
+
+gnsstk::Position convert(const geometry_msgs::Point& position)
+{
+    return {position.x, position.y, position.z, gnsstk::Position::CoordinateSystem::Cartesian};
+}
+
+geometry_msgs::Point convertToCartesianMsg(const gnsstk::Position& position)
+{
+    auto pos = position;
+    pos.transformTo(gnsstk::Position::CoordinateSystem::Cartesian);
+    geometry_msgs::Point msg;
+    msg.x = pos.X();
+    msg.y = pos.Y();
+    msg.z = pos.Z();
+    return msg;
+}
+
+gnss_info_msgs::SatellitePosition convert(const gnsstk::Xvt& xvt, const uint32_t satcatId)
+{
+    gnss_info_msgs::SatellitePosition position;
+    position.satcat_id = satcatId;
+    position.position.x = xvt.x[0];
+    position.position.y = xvt.x[1];
+    position.position.z = xvt.x[2];
+    position.velocity.x = xvt.v[0];
+    position.velocity.y = xvt.v[1];
+    position.velocity.z = xvt.v[2];
+    return position;
+}
+
+}
diff --git a/gnsstk_ros/src/time.cpp b/gnsstk_ros/src/time.cpp
new file mode 100644
index 0000000..daadc7f
--- /dev/null
+++ b/gnsstk_ros/src/time.cpp
@@ -0,0 +1,53 @@
+// SPDX-License-Identifier: BSD-3-Clause
+// SPDX-FileCopyrightText: Czech Technical University in Prague
+
+#include <limits>
+
+#include <gnsstk/CommonTime.hpp>
+#include <gnsstk/YDSTime.hpp>
+
+#include <gnsstk_ros/time.h>
+#include <ros/duration.h>
+#include <ros/time.h>
+
+namespace gnsstk_ros
+{
+
+// Statically initialize the number of days since 1 Jan 1970 in gnsstk::CommonTime.
+const gnsstk::CommonTime UnixEpoch::gnsstkCommonTime {gnsstk::YDSTime(1970, 0, 0.0).convertToCommonTime()};
+const long UnixEpoch::gnsstkDaysOffset {getDays(UnixEpoch::gnsstkCommonTime)};  // NOLINT(runtime/int)
+
+long getDays(const gnsstk::CommonTime& time)  // NOLINT(runtime/int)
+{
+    long days, secs;  // NOLINT(runtime/int)
+    double frac;
+    time.get(days, secs, frac);
+    return days;
+}
+
+ros::Time convert(const gnsstk::CommonTime& commonTime)
+{
+    long days, secs;  // NOLINT(runtime/int)
+    double frac;
+    commonTime.get(days, secs, frac);
+
+    const auto daysSecs = ros::Duration::DAY.sec * (days - UnixEpoch::gnsstkDaysOffset);
+    const auto timeSecs = daysSecs + secs;
+
+    using SecType = decltype(ros::Duration::sec);
+    if (timeSecs < std::numeric_limits<SecType>::min() || timeSecs > std::numeric_limits<SecType>::max())
+        throw std::runtime_error("Duration is out of dual 32-bit range");
+
+    return ros::Time(static_cast<SecType>(timeSecs), 0) + ros::Duration(frac);
+}
+
+gnsstk::CommonTime convert(const ros::Time& rosTime)
+{
+    auto commonTime = UnixEpoch::gnsstkCommonTime;
+    commonTime.addDays(rosTime.sec / ros::Duration::DAY.sec);
+    commonTime.addSeconds(static_cast<long>(rosTime.sec % ros::Duration::DAY.sec));  // NOLINT(runtime/int)
+    commonTime.addSeconds(rosTime.nsec * 1e-9);
+    return commonTime;
+}
+
+}