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

Changelog for package nmea_navsat_driver

2.0.1 (2023-08-31)

• Fix parsing of true_course field in VTG message (#165) Co-authored-by: Stefan Gisler <<stefan.gisler@hillbot.ch>>
• Fix missing return in driver.add_sentence to avoid returning None.
• Update logger definition to match ROS2 logging API.
• Add Support for TCP GNSS Sensor (#152) Add a new nmea_tcpclient_driver for sensors that offer a TCP interface rather than a UDP interface. The nmea_tcpclient_driver connects to a TCP socket and forwards the NMEA-Sentences line-by-line to the driver.
• Modify setup.cfg to remove warning when doing colcon build (#157)
• Contributors: Dunkelmann, Luca Bascetta, gislers, joeldushouyu

2.0.0 (2022-06-25)

• Replace dependency on transforms3d pip package to tf_transformations. (#147)
• Added log for successful connection. (#149)
• Removed printing every time the checksum is checked. (#148)
• nmea_socket_driver fixes for ROS2 (#127)
  • Fix white space for PEP8 compliance
  • Fix socket driver for ROS2 Foxy
  • Add config file for socket driver
  • Decode bytes as ASCII
• Fix bug where ROS node is not assigned correctly (#114) Fixes #71
• Update launch file for ROS2 Foxy (#110)
  • Remove get_default_launch_description, which no longer exists.
  • Update the parameters of the Node initializer to the Foxy API.
• Update pyserial dependency to make it findable with rosdep (#109) This allows rosdep to find the correct serial package and install it.
• ROS2: Eloquent changes for python packages (#101) Fix some warnings when installing packages that first appear in ROS2 Eloquent:
  • A missing the resource folder
  • Not explicitly installing package.xml in the share folder.
• ROS2 updates for Dashing (#80) Change subscriptions and parameters to conform to API changes in ROS 2 Dashing.
• Remove scripts directory in favor of nodes subpackage (#77) Since these modules will no longer be called as scripts in ROS 2, move them to a nodes subpackage, and remove the option to call them as executables. Addresses #75 for ROS 2.
• Fix nmea_topic_serial_reader name (#74)
  • Fix #72 (no module name scripts.nmea_topic_serial_driver)
  • Fix exception handling in nmea_topic_serial_reader ('rclpy' has no attribute 'ROSInterruptException')
• Clean up launch file and make it runnable with ROS2 launch (#73) Fixes #70
  • Rename config file and put it into a config directory.
  • Make setup.py install the launch and config files.

  - Rename the launch file with the .launch.py suffix used by OSRF packages.

  • Refactor the launch file so that it works with [ros2 launch]{.title-ref}.
• Fix PEP8 Violations and update setup.cfg file for pycodestyle. (#69)
• Port to ROS 2 (#64) Initial work to port nmea_navsat_driver to ROS2 by \@klintan.
• Add nmea_serial_driver launch file (#60) Add example nmea_serial_driver launch file.
• Remove automatic prefixing of forward slash to frame_id. (#33/#57) To be consistent with the current default behavior, the default frame_id has been set to /gps with the prepended forward slash.
• Add support for IMU aided GPS systems (#30/#58)
  • Add support for IMU aided GPS systems like the Applanix POS/MV, whose NMEA strings typically begin '$IN'. (e.g. $INGGA).
  • Add support for VTG messages, which contain Course Over Ground and Speed Made Good. These are useful when not using RMC messages and you don't have a heading sensor.
• Add support for publishing heading from GPHDT as a QuaternionStamped message on the topic /heading (#25)
• Improve Covariance Estimation (#46) Use GST covariance where available, otherwise uses default covariances estimated from fix type. The previous implementation set covariance to HDOP\^2. Instead, it should multiply that by the measurement variance. HDOP should be greater than 1.0.
• Add Socket Driver (#32) Add a NMEA socket driver node, which is like the existing serial driver node, but instead of attaching to a TTY handle from a serial port, it listens to a UDP port for NMEA sentences.
• Add code to handle serial exception to allow node to exit cleanly (#52)
  • Catch Serial exceptions and exit cleanly, instead of printing Python stack trace.
  • Catch Serial exception when opening the serial port, log a FATAL message, and exit instead of printing Python stack trace.
• Remove MSL compensation (#36) Fix for #29 Altitude vs Elipsoid Height.
• Add GLONASS support GLONASS capable devices send different NMEA sentences, which are basically identical to the GPS sentences, but with other prefixes.
• Updated driver to accept status of 9 which some novatel receivers report for a WAAS (SBAS) fix. See http://www.novatel.com/support/known-solutions/which-novatel-position-types-correspond-to-the-gga-quality-indicator/

0.5.0 (2015-04-23)

• Release to Jade.

0.4.2 (2015-04-23)

• Fix remaining parse problem with NovAtel receivers (empty field specified for num_satellite).

0.4.1 (2014-08-03)

• Add debug logging output to the parser (PR #8, Mike Purvis)
• Add queue size argument to publishers to fix warning on Indigo (PR #9, Mike Purvis)
• Add support for roslint and some related cleanup (PR #10, Mike Purvis)

0.4.0 (2014-05-04)

• Initial release for Indigo
• Fix #5: Empty fields spam rosout with warnings. Driver now outputs sensor_msgs/NavSatFix messages that may contain NaNs in position and covariance when receiving invalid fixes from the device.

0.3.3 (2013-10-08)

• Allow the driver to output velocity information anytime an RMC message is received

0.3.2 (2013-07-21)

• Moved to nmea_navsat_driver package
• Removed .py extensions from new-in-Hydro scripts
• Now uses nmea_msgs/Sentence instead of custom sentence type
• nmea_topic_driver reads the [frame_id]{.title-ref} parameter from the sentence, not from the parameter server

0.3.1 (2013-05-07)

• Removed incorrect find_package dependencies

0.3.0 (2013-05-05)

• Initial release for Hydro
• Converted to Catkin
• nmea_gps_driver.py is now deprecated and will be removed in I-Turtle. Replacement node is nmea_serial_driver.py .
• Refactored code into NMEA parser, common ROS driver and separate nodes for reading directly from serial or from topic.
• Bugs fixed:
  • nmea_gps_driver crashes when a sentence doesn't have a checksum * character ( http://kforge.ros.org/gpsdrivers/trac/ticket/4 )
  • Add ability for nmea_gps_driver to support reading from string topic ( https://github.com/ros-drivers/nmea_gps_driver/issues/1 ). Use the nmea_topic_driver.py node to get this support.

0.2.0 (2012-03-15)

• Initial version (released into Fuerte)
• Supports GGA or RMC+GSA sentences to generate sensor_msgs/NavSatFix messages