// the find
weisongwen/GraphGNSSLib
An Open-source Package for GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization
A ROS/C++ implementation of factor graph optimization for GNSS positioning and RTK, from the PolyU IPN Lab, built on top of RTKLIB for raw data decoding and Ceres for the nonlinear solve. It's for robotics/navigation researchers who want an alternative to EKF-based GNSS fusion and are willing to reproduce the associated ICRA/IEEE TVT papers rather than ship a product.
It's a working reference implementation tied to actual peer-reviewed papers (ICRA 2021, IEEE TVT), not just a paper-with-no-code repo. It reuses RTKLIB for RINEX parsing and ambiguity resolution (LAMBDA) instead of reinventing GNSS plumbing, which is the tedious part to get right. Ships real datasets (UrbanNav, TST smartphone data) with launch files so you can reproduce the plotted trajectories immediately rather than hunting for test data.
Hard-pinned to Ubuntu 16.04 and ROS Kinetic, both long past EOL — getting this running natively on anything current means fighting dependency hell, and the README's fallback advice is literally 'reinstall Ubuntu.' Requires a specific fork of Ceres-solver rather than a current release, so it's not just 'apt install and go.' No tests, no CI, and the last push was December 2022 with support routed through one grad student's email — this is frozen research code, not something actively maintained. Docker helps sidestep the OS/ROS issue but doesn't fix the stale dependency pins underneath it.