Author: Oleksii Moroz
Contact: oleksii.moroz@tum.de
The system was developed as the navigation and positioning service of the Iron Car. It generates the route between two points on the map and supports the car while it is moving on the route. It returns direction and distance to the next point and the type of the maneuver which should be performed by car at that point. Also it can return the direction and speed of the car. The service was implemented during the Lego Car lab course in the SoSe16.
Hardware:
- Raspberry Pi 3
- GPS module
Libraries:
- curl
- jsoncpp
Services:
- gpsd
- graphhopper
Installation of all requirements
sudo ./addlibs.sh
Run these scripts on the start of Raspberry Pi
Configure gps service
sudo ./setupgps.sh
Start the graphhopper
./rungraphhopper.sh
Add navigation library to your code or compile and run the project
Specify the destination point:
auto nav = new Navigator();
nav->setDestination(coordinates)coordinates is a struct with double fields latitude, longitude.
Get next route step:
nav->getNextStep();return the instruction struct with parameters:
- double bearing - direction (degrees) - compass angle from true north
- double distance (meters) - distance to the next maneuver
- int sign - next maneuver type:
Sign numbers meaning:
- 0: go straight
- 2: trun right
- -2: turn left
- 4: finish