/gnss_nmea0183_ros_driver

GNSS ROS driver in nmea0183 format

Primary LanguagePython

gnss_nmea0183_ros_driver

GNSS ROS driver in nmea0183 format

Inputs / Outputs

Output

Name Type Description
~/gnss_fix sensor_msgs/NavSatFix GNSS data
~/diagnostics diagnostic_msgs/DiagnosticArray GNSS connection status

Parameters

Node Parameters

Name Type Default Value Description
timeout float 5.0 timeout of serial communication [sec]
baudrate int 9600 serial baundrate [bps]
port string "/dev/ttyUSB0" USB port to which GNSS is connected
frame_id string "base_link" GNSS frame id
sweep_rate float 10.0 Serial data extraction rate [Hz]
diagnostic_status_name string "GNSS" status_name of diagnostic msg
dummy_latitude float 35.689 latitude for dummy (dummy node only)
dummy_longitude float 139.692 longitude for dummy (dummy node only)
dummy_altitude float 40.0 altitude for dummy (dummy node only)
publish_rate float 1.0 dummy GNSS data publish rate [Hz] (dummy node only)

Software Requirement

  • Python3
  • pynmea2
  • serial

Operation confirmed environment

  • OS: Ubuntu20.04
  • ROS: ROS noetic
  • GNSS: GU-502MGG-USB

Usage

1. Please connect GNSS via USB

2. Install requirement package

pip install pynmea2
pip install pyserial

3. Launch the node

pip install pynmea2
pip install pyserial