gps is a wrapper package to use existing GPS packages based on gpsd
The package depends on existing ROS gps package
gps-umd that you can install using the following generic procedure:
sudo apt-get install ros-<distro>-gps-umd
gps_umd is actually a ROS stack with two packages:
gpsd_client obtains data after
gpsd, which is a deamon in the operating system. If
gpsd is not installed then install it with:
sudo apt-get install gpsd
And then configure it:
to change the options, stored in
/etc/default/gpsd, into something like:
START_DAEMON="true" GPSD_OPTIONS="" DEVICES="" USBAUTO="false" # "true" to make autodetection of USB port! GPSD_SOCKET="/var/run/gpsd.sock"
If you do not want the
gpsd scramble your serial ports, then do not allow auto USB detection and impose your serial port manually, e.g.
You can test if GPS is operational by running several tools such as cgps (text) or xgps (graphical) where you should see data and even a map of satelites... :-)
In some GPS receivers there is a problem with GPS time so the command must be invoked setting the gps_time as false. The actual command is something like this:
rosrun gpsd_client gpsd_client _host:=localhost _port:=2947 _use_gps_time:=false
Port is the default but can be changed.
launch/gpsBU-353.launch launch file has been created to easily launch this
gpsd_client for the particular receiver.