nmea_navsat_driver

ROS driver to parse NMEA strings and publish standard ROS NavSat message types. Does not require the GPSD daemon to be running.

API

This package has no released Code API.

The ROS API documentation and other information can be found at http://ros.org/wiki/nmea_navsat_driver

More information: http://wiki.ros.org/nmea_navsat_driver

Installation

$ cd catkin_ws/src

$ git clone https://github.com/ros-agriculture/nmea_navsat_driver.git

$ cd ..

From ~/catkin_ws, $ catkin_make

$ source devel/setup.bash

Running

Example launch file: https://github.com/ros-agriculture/nmea_navsat_driver/blob/master/launch/nmea_serial_driver.launch Tutorial on launch files: https://www.youtube.com/watch?v=pCBwos89fI0

These are generally the parameters that need to be configured.

<arg name="port" default="/dev/ttyUSB0" />

<arg name="baud" default="4800" />

There are three nodes in this package

nmea_topic_driver NMEA GPS Topic driver node. Reads NMEA sentences from a ROS topic instead of directly from e.g. a serial port. http://wiki.ros.org/nmea_navsat_driver#nmea_topic_driver

nmea_serial_driver NMEA GPS Serial driver node. Replaces nmea_gps_driver.py to reduce naming conflicts and use new common parsing+driver backend. http://wiki.ros.org/nmea_navsat_driver#nmea_serial_driver

nmea_topic_serial_reader Reads NMEA sentences from the specified serial port and publishes them to a ROS topic. This is a simple front-end for use with nmea_topic_driver.py http://wiki.ros.org/nmea_navsat_driver#nmea_topic_serial_reader