We use this at MIT-PITT-RW and WATonomous for the GNSS.

I need to figure out the exact model


At WATO, we have a off-the-shelf solution for localization (to determine where we are in the HD map):

implementation details and how we interface with the hardware That’s all implemented in the ROS driver, which we copied over here:

Code that sets up the socket:

Code that translates socket messages into ROS messages:

Code that sets up the ROS transform tree and odomtry messages: