rostinyg

rostinyg is a simple ros package to publish position information of tinyg controller: https://github.com/synthetos/TinyG/

rostinyg communicates with serial port json server: https://github.com/chilipeppr/serial-port-json-server

Creating Workspace

mkdir -p ~/rostinyg_ws
cd ~/rostinyg_ws

Adding rostinyg package

mkdir -p ~/rostinyg_ws/src
cd ~/rostinyg_ws/src
wstool init
wstool set rostinyg --git git://github.com/japzi/rostinyg.git
wstool update

Building

cd ~/rostinyg_ws/
catkin_make

roslaunch file for rostinyg

<launch>
  <node pkg="rostinyg" type="rostinyg" name="rostinyg_nodlet" args="_serial_port_json_server_url:=http://localhost:8989/ws _usb_port:=/dev/ttyUSB0 _report_delay:=100" >
  </node>
</launch>

rostinyg publishes position message

• posX (float)
• posY (float)
• posZ (float)
• timestamp (ros::time)

rostinyg uses following libraries with thanks:

• Websocket C++ library: https://github.com/zaphoyd/websocketpp (BSD License)
• JSON C++ library: https://github.com/nlohmann/json (MIT License)