gps_trust

ROS2 nodes for checking the trust level of GPS messages

GPS Trust – Automated ROS 2 GNSS Stack Setup

This repository provides a full automation pipeline for setting up a GPS-Trust station on Ubuntu 24.04 or Raspberry Pi 5.

It configures:

• a dedicated gpstrust system user
• ROS 2 workspaces for both gps_trust and ublox_dgnss
• environment configuration (/etc/gpstrust.env)
• a managed systemd service (gpstrust.service) that launches and supervises the stack

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🧭 Overview

The system runs three ROS 2 launch files:

1. gps_trust_satellite – hardware driver for u-blox F9P or X20P
2. ntrip_client – NTRIP correction stream handler
3. gps_trust_main – main trust computation and publishing node

Each component runs under the gpstrust service account and writes to /var/log/gpstrust.

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🚀 Quick Install

Follow ROS2 install docs ROS2 Installation Guide

sudo apt install git python3-colcon-common-extensions python3-rosdep ros2-rolling-ros-base
git clone https://github.com/aussierobots/gps_trust.git && cd gps_trust
sudo -E ./setup/install_gpstrust_service.sh

During setup you will be prompted for:

• ROS install prefix (default /opt/ros/rolling)
• Device type (F9P or X20P)
• NTRIP credentials and mountpoint
• API key for GPS-Trust device telemetry

The script:

• creates the gpstrust user
• clones gps_trust and ublox_dgnss into /home/gpstrust
• builds both workspaces with colcon build
• writes /etc/gpstrust.env with all required variables
• installs and enables the gpstrust.service

Note:

If you the environment variables already set, it should default to them