oxford_gps_eth package from oxford_gps_eth repo

oxford_gps_eth

Package Summary

Tags No category tags.
Version 1.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/DataspeedInc/oxford_gps_eth
VCS Type hg
VCS Version default
Last Updated 2018-12-21
Dev Status MAINTAINED
Released RELEASED

Package Description

Ethernet interface to OxTS GPS receivers (NCOM packet structure)

Additional Links

Maintainers

  • Kevin Hallenbeck

Authors

  • Kevin Hallenbeck

Ethernet interface to OxTS GPS receivers using the NCOM packet structure

Tested with the RT3000v2 receiver.

Published Topics

  • gps/fix (sensor_msgs/NavSatFix) GPS position in geodetic coordinates (latitude and longitude)
  • gps/vel (geometry_msgs/TwistWithCovarianceStamped) GPS velocity in ENU frame
    • linear.x Velocity due East in m/s
    • linear.y Velocity due North in m/s
    • linear.z Velocity up in m/s
  • gps/odom (nav_msgs/Odometry) GPS position and heading in UTM frame, and velocity in vehicle body frame
    • pose.position.x UTM Easting in meters
    • pose.position.y UTM Northing in meters
    • pose.orientation Yaw quaternion representing the heading in UTM. Keep in mind that this UTM heading is relative to the UTM grid, which is not necessarily aligned with due East. This phenomenon is known as "grid convergence". See Wikipedia for details.
    • twist.linear.x Local frame forward velocity of the vehicle in m/s
    • twist.linear.y Local frame lateral velocity of the vehicle in m/s
    • twist.angular.z Yaw rate of the vehicle in rad/s
  • imu/data (sensor_msgs/Imu) Orientation, angular rates, and linear accelerations reported directly from the OxTS unit
  • gps/pos_type (std_msgs/String) Position solution type reported by the OxTS unit (point position, differential pseudorange, RTK float, RTK integer, etc.)
  • gps/nav_status (std_msgs/String) Navigation status reported by the OxTS unit. fix, vel, odom, and imu/data topics will not be published until this topic contains the string "READY".
  • gps/time_ref (sensor_msgs/TimeReference) UTC equivalent of the GPS timestamp reported by the OxTS unit. ### Parameters
  • interface Restrict to single network interface, example: eth0. Default <empty>
  • ip_address Local IP listen address. Default <empty>
  • port Local UDP listen port. Default 3000
  • frame_id_gps The frame-ID for geodetic GPS position and IMU. Default gps
  • frame_id_vel The frame-ID for ENU GPS velocity. Default enu
  • frame_id_odom The frame-ID for UTM odometry. Default utm

Example usage

rosrun oxford_gps_eth gps_node

OR

roslaunch oxford_gps_eth gps.launch

FAQ

I see Connected to Oxford GPS at <ip_address>:3000 , but GPS position and velocity messages are not being published.

Data is not published until the OxTS unit reports itself as being completely initialized. Drive around faster than 5 m/s for a short period of time after powering on the OxTS unit to initialize the sensor. The gps/nav_status string topic indicates the status of the initialization process. Once this string shows "READY", the GPS position and velocity messages should start publishing.

CHANGELOG

Changelog for package oxford_gps_eth

1.0.0 (2018-09-07)

  • Use C++11 or newer
  • Publish a sensor_msgs/TimeReference message with GPS time converted to UTC
  • Publish a position type string more detailed than the NavSatStatus in the fix message
  • Added UTM position and heading to odometry output; Odometry twist now in local frame
  • Contributors: Micho Radovnikovich, Kevin Hallenbeck

0.0.6 (2018-03-26)

  • Changed default listen address from broadcast to any
  • Added unit tests and rostests
  • Added launch file
  • Contributors: Kevin Hallenbeck

0.0.5 (2017-08-10)

  • Fixed velocity utm east-north-up orientation
  • Properly handle unknown covariance and fields that are not present
  • Updated license for year 2017
  • Updated package.xml format to version 2
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

0.0.4 (2016-04-11)

  • Updated license year for 2016
  • Contributors: Kevin Hallenbeck

0.0.3 (2015-12-21)

  • Added fix for Ubuntu Saucy
  • Contributors: Kevin Hallenbeck

0.0.2 (2015-12-14)

  • Added fix for Ubuntu Saucy
  • Contributors: Kevin Hallenbeck

0.0.1 (2015-12-10)

  • Ready for public release
  • Contributors: Kevin Hallenbeck

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/gps.launch
      • output [default: screen]
      • required [default: true]
      • respawn [default: false]
      • interface [default: ]
      • ip_address [default: ]
      • port [default: 3000]
      • frame_id_gps [default: gps]
      • frame_id_vel [default: enu]
      • frame_id_odom [default: base_footprint]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged oxford_gps_eth at answers.ros.org

oxford_gps_eth package from oxford_gps_eth repo

oxford_gps_eth

Package Summary

Tags No category tags.
Version 1.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/DataspeedInc/oxford_gps_eth
VCS Type hg
VCS Version default
Last Updated 2018-12-21
Dev Status MAINTAINED
Released RELEASED

Package Description

Ethernet interface to OxTS GPS receivers (NCOM packet structure)

Additional Links

Maintainers

  • Kevin Hallenbeck

Authors

  • Kevin Hallenbeck

Ethernet interface to OxTS GPS receivers using the NCOM packet structure

Tested with the RT3000v2 receiver.

Published Topics

  • gps/fix (sensor_msgs/NavSatFix) GPS position in geodetic coordinates (latitude and longitude)
  • gps/vel (geometry_msgs/TwistWithCovarianceStamped) GPS velocity in ENU frame
    • linear.x Velocity due East in m/s
    • linear.y Velocity due North in m/s
    • linear.z Velocity up in m/s
  • gps/odom (nav_msgs/Odometry) GPS position and heading in UTM frame, and velocity in vehicle body frame
    • pose.position.x UTM Easting in meters
    • pose.position.y UTM Northing in meters
    • pose.orientation Yaw quaternion representing the heading in UTM. Keep in mind that this UTM heading is relative to the UTM grid, which is not necessarily aligned with due East. This phenomenon is known as "grid convergence". See Wikipedia for details.
    • twist.linear.x Local frame forward velocity of the vehicle in m/s
    • twist.linear.y Local frame lateral velocity of the vehicle in m/s
    • twist.angular.z Yaw rate of the vehicle in rad/s
  • imu/data (sensor_msgs/Imu) Orientation, angular rates, and linear accelerations reported directly from the OxTS unit
  • gps/pos_type (std_msgs/String) Position solution type reported by the OxTS unit (point position, differential pseudorange, RTK float, RTK integer, etc.)
  • gps/nav_status (std_msgs/String) Navigation status reported by the OxTS unit. fix, vel, odom, and imu/data topics will not be published until this topic contains the string "READY".
  • gps/time_ref (sensor_msgs/TimeReference) UTC equivalent of the GPS timestamp reported by the OxTS unit. ### Parameters
  • interface Restrict to single network interface, example: eth0. Default <empty>
  • ip_address Local IP listen address. Default <empty>
  • port Local UDP listen port. Default 3000
  • frame_id_gps The frame-ID for geodetic GPS position and IMU. Default gps
  • frame_id_vel The frame-ID for ENU GPS velocity. Default enu
  • frame_id_odom The frame-ID for UTM odometry. Default utm

Example usage

rosrun oxford_gps_eth gps_node

OR

roslaunch oxford_gps_eth gps.launch

FAQ

I see Connected to Oxford GPS at <ip_address>:3000 , but GPS position and velocity messages are not being published.

Data is not published until the OxTS unit reports itself as being completely initialized. Drive around faster than 5 m/s for a short period of time after powering on the OxTS unit to initialize the sensor. The gps/nav_status string topic indicates the status of the initialization process. Once this string shows "READY", the GPS position and velocity messages should start publishing.

CHANGELOG

Changelog for package oxford_gps_eth

1.0.0 (2018-09-07)

  • Use C++11 or newer
  • Publish a sensor_msgs/TimeReference message with GPS time converted to UTC
  • Publish a position type string more detailed than the NavSatStatus in the fix message
  • Added UTM position and heading to odometry output; Odometry twist now in local frame
  • Contributors: Micho Radovnikovich, Kevin Hallenbeck

0.0.6 (2018-03-26)

  • Changed default listen address from broadcast to any
  • Added unit tests and rostests
  • Added launch file
  • Contributors: Kevin Hallenbeck

0.0.5 (2017-08-10)

  • Fixed velocity utm east-north-up orientation
  • Properly handle unknown covariance and fields that are not present
  • Updated license for year 2017
  • Updated package.xml format to version 2
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

0.0.4 (2016-04-11)

  • Updated license year for 2016
  • Contributors: Kevin Hallenbeck

0.0.3 (2015-12-21)

  • Added fix for Ubuntu Saucy
  • Contributors: Kevin Hallenbeck

0.0.2 (2015-12-14)

  • Added fix for Ubuntu Saucy
  • Contributors: Kevin Hallenbeck

0.0.1 (2015-12-10)

  • Ready for public release
  • Contributors: Kevin Hallenbeck

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/gps.launch
      • output [default: screen]
      • required [default: true]
      • respawn [default: false]
      • interface [default: ]
      • ip_address [default: ]
      • port [default: 3000]
      • frame_id_gps [default: gps]
      • frame_id_vel [default: enu]
      • frame_id_odom [default: base_footprint]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged oxford_gps_eth at answers.ros.org

oxford_gps_eth package from oxford_gps_eth repo

oxford_gps_eth

Package Summary

Tags No category tags.
Version 1.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/DataspeedInc/oxford_gps_eth
VCS Type hg
VCS Version default
Last Updated 2018-12-21
Dev Status MAINTAINED
Released RELEASED

Package Description

Ethernet interface to OxTS GPS receivers (NCOM packet structure)

Additional Links

Maintainers

  • Kevin Hallenbeck

Authors

  • Kevin Hallenbeck

Ethernet interface to OxTS GPS receivers using the NCOM packet structure

Tested with the RT3000v2 receiver.

Published Topics

  • gps/fix (sensor_msgs/NavSatFix) GPS position in geodetic coordinates (latitude and longitude)
  • gps/vel (geometry_msgs/TwistWithCovarianceStamped) GPS velocity in ENU frame
    • linear.x Velocity due East in m/s
    • linear.y Velocity due North in m/s
    • linear.z Velocity up in m/s
  • gps/odom (nav_msgs/Odometry) GPS position and heading in UTM frame, and velocity in vehicle body frame
    • pose.position.x UTM Easting in meters
    • pose.position.y UTM Northing in meters
    • pose.orientation Yaw quaternion representing the heading in UTM. Keep in mind that this UTM heading is relative to the UTM grid, which is not necessarily aligned with due East. This phenomenon is known as "grid convergence". See Wikipedia for details.
    • twist.linear.x Local frame forward velocity of the vehicle in m/s
    • twist.linear.y Local frame lateral velocity of the vehicle in m/s
    • twist.angular.z Yaw rate of the vehicle in rad/s
  • imu/data (sensor_msgs/Imu) Orientation, angular rates, and linear accelerations reported directly from the OxTS unit
  • gps/pos_type (std_msgs/String) Position solution type reported by the OxTS unit (point position, differential pseudorange, RTK float, RTK integer, etc.)
  • gps/nav_status (std_msgs/String) Navigation status reported by the OxTS unit. fix, vel, odom, and imu/data topics will not be published until this topic contains the string "READY".
  • gps/time_ref (sensor_msgs/TimeReference) UTC equivalent of the GPS timestamp reported by the OxTS unit. ### Parameters
  • interface Restrict to single network interface, example: eth0. Default <empty>
  • ip_address Local IP listen address. Default <empty>
  • port Local UDP listen port. Default 3000
  • frame_id_gps The frame-ID for geodetic GPS position and IMU. Default gps
  • frame_id_vel The frame-ID for ENU GPS velocity. Default enu
  • frame_id_odom The frame-ID for UTM odometry. Default utm

Example usage

rosrun oxford_gps_eth gps_node

OR

roslaunch oxford_gps_eth gps.launch

FAQ

I see Connected to Oxford GPS at <ip_address>:3000 , but GPS position and velocity messages are not being published.

Data is not published until the OxTS unit reports itself as being completely initialized. Drive around faster than 5 m/s for a short period of time after powering on the OxTS unit to initialize the sensor. The gps/nav_status string topic indicates the status of the initialization process. Once this string shows "READY", the GPS position and velocity messages should start publishing.

CHANGELOG

Changelog for package oxford_gps_eth

1.0.0 (2018-09-07)

  • Use C++11 or newer
  • Publish a sensor_msgs/TimeReference message with GPS time converted to UTC
  • Publish a position type string more detailed than the NavSatStatus in the fix message
  • Added UTM position and heading to odometry output; Odometry twist now in local frame
  • Contributors: Micho Radovnikovich, Kevin Hallenbeck

0.0.6 (2018-03-26)

  • Changed default listen address from broadcast to any
  • Added unit tests and rostests
  • Added launch file
  • Contributors: Kevin Hallenbeck

0.0.5 (2017-08-10)

  • Fixed velocity utm east-north-up orientation
  • Properly handle unknown covariance and fields that are not present
  • Updated license for year 2017
  • Updated package.xml format to version 2
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

0.0.4 (2016-04-11)

  • Updated license year for 2016
  • Contributors: Kevin Hallenbeck

0.0.3 (2015-12-21)

  • Added fix for Ubuntu Saucy
  • Contributors: Kevin Hallenbeck

0.0.2 (2015-12-14)

  • Added fix for Ubuntu Saucy
  • Contributors: Kevin Hallenbeck

0.0.1 (2015-12-10)

  • Ready for public release
  • Contributors: Kevin Hallenbeck

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/gps.launch
      • output [default: screen]
      • required [default: true]
      • respawn [default: false]
      • interface [default: ]
      • ip_address [default: ]
      • port [default: 3000]
      • frame_id_gps [default: gps]
      • frame_id_vel [default: enu]
      • frame_id_odom [default: base_footprint]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged oxford_gps_eth at answers.ros.org