an ROS package to convert the GNSS raw measurements from topic "/ublox_gps_node/rxmraw" in ROS bag to RINEX file. tested on California part of the UrbanLoco dataset.
Compile the code:
Firstly create an ROS workspace mkdir -p ~/ublox_ws/src
cd ~/ublox_ws/src
catkin_init_workspace
Then download this package, and put it inside ~/ublox_ws/src.
cd ~/ublox_ws
catkin_make
Run the code:
Open the first terminal, input: roscore
Then open the second terminal, input: cd ~/ublox_ws
source devel/setup.bash
rosrun ublox2rinex ublox_raw_parser
Then open the third terminal, input: rosbag play PATH_OF_YOUR_BAG.bag
Finally you will see a file named rinex_CA_20190828184706.obs inside ~/ublox_ws/
That is the rinex file.