This repository contains ROS packages for working with raw GPS data, sufficient to create a GPS/INS system useful on an outdoor robot.

Sensors required:

1. An IMU (inertial measurement unit) and driver publishing sensor_msgs/Imu and sensor_msgs/MagneticField messages
2. A GPS receiver providing raw observables supported by one of the drivers in this repository:
   1. Skytraq S1315F-RAW
   2. NVS NV08C-CSM

This software was sponsored as NSF project #00108192.