GPS module data receiver

gps

gps wrapper package. Simply uses launch files for existing ROS nodes. gpsd_client is the actual node that runs from the gps-umd package available in ROS.

gps is a wrapper package to use existing GPS packages based on gpsd

Description

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:

        dpkg-reconfigure gpsd

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.

        gpsd /dev/ttyUSB3

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.

The launch/gpsBU-353.launch launch file has been created to easily launch this gpsd_client for the particular receiver.



gps
Author(s): vsantos
autogenerated on Mon Mar 2 2015 01:31:39