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ROS provides a number of packages that can be used to convert NMEA input to ROS-standard GNSS topics. Some of them are reviewed below.

nmeanavsatdriver

Install the package. For example, on Ubuntu the package can be installed as follows (assuming ROS Indigo):


Code Block
sudo apt-get install ros-indigo-nmea-navsat-driver

Then start the node:

Code Block
roscore &
rosrun nmea_navsat_driver nmea_serial_driver _port:=/dev/serial/by-id/usb-Zubax_Robotics_Zubax_GNSS_34FFD305435730343944224300000000-if00

The long path can also be replaced with just TTY name, e.g. /dev/ttyACM0. Having started the node, open a second terminal and you’ll see the data:

Code Block
$ rostopic echo /fix
header:
seq: 14
stamp:
secs: 1450103910
nsecs: 61619043
frame_id: /gps
status:
status: 0
service: 1
latitude: 00.6046158333
longitude: 00.7155701667
altitude: 228.17
position_covariance: [1.2544000000000002, 0.0, 0.0, 0.0, 1.2544000000000002, 0.0, 0.0, 0.0, 5.017600000000001]
position_covariance_type: 1
---

gpsd_client

This package requires that the system has running gpsd installation. Refer to the instructions above to see how to configure gpsd.

Having gpsd configured and running, install the ROS package and try it:

Code Block
$ roscore &
$ rosrun gpsd_client gpsd_client &
$ rostopic echo /fix
header:
seq: 205
stamp:
secs: 1450104688
nsecs: 839999914
frame_id: ''
status:
status: 0
service: 1
latitude: 00.604582
longitude: 00.715618833
altitude: 231.312
position_covariance: [8.121, 0.0, 0.0, 0.0, 10.554, 0.0, 0.0, 0.0, 43.7]
position_covariance_type: 2
---
...