nmea_gps_plugin repository

Repository Summary

Checkout URI https://github.com/OUXT-Polaris/nmea_gps_plugin.git
VCS Type git
VCS Version master
Last Updated 2019-07-17
Dev Status DEVELOPED
Released RELEASED

Packages

Name Version
nmea_gps_plugin 0.0.2

README

nmea_gps_plugin

Developed By OUXT Polaris

master develop
Build Status Build Status

Gazebo gps sensor plugin for publishing nmea_msgs/Sentence

Available Sentence

GPRMC

Timestamp,Status,Latitude,Longitude,Velocity,Heading of Velocity

https://docs.novatel.com/OEM7/Content/Logs/GPRMC.htm

GPGGA

Timestamp,Latitude,Longitude,Number of satelite,Altitude

https://docs.novatel.com/OEM7/Content/Logs/GPGGA.htm?Highlight=GPGGA

GPVTG

Heading of Velocity,Velocity

https://docs.novatel.com/OEM7/Content/Logs/GPVTG.htm?Highlight=GPVTG

GPHDT

True Heading

https://docs.novatel.com/OEM7/Content/Logs/GPHDT.htm?Highlight=GPHDT

example urdf setup

    <gazebo>
      <plugin name="gps_plugin_${name}" filename="libnmea_gps_plugin.so">
        <updateRate>15.0</updateRate>
        <alwaysOn>true</alwaysOn>
        <bodyName>${name}_link</bodyName>
        <frameId>${name}_link</frameId>
        <topicName>nmea_sentence</topicName>
        <!--<velocityTopicName>gps/fix_velocity</velocityTopicName>-->
        <!-- Location of origin of Gazebo Sand Island map -->
        <referenceLatitude>21.30996</referenceLatitude>
        <referenceLongitude>-157.8901</referenceLongitude>
        <referenceAltitude>0</referenceAltitude>
        <referenceHeading>90</referenceHeading>
        <velocityGaussiaNoise>0.05</velocityGaussiaNoise>
        <orientationGaussiaNoise>0.05</orientationGaussiaNoise>
        <positionGaussiaNoise>0.05</positionGaussiaNoise>        
      </plugin>
    </gazebo>

Demo

No video

Repository Summary

Checkout URI https://github.com/OUXT-Polaris/nmea_gps_plugin.git
VCS Type git
VCS Version master
Last Updated 2019-07-17
Dev Status DEVELOPED
Released RELEASED

Packages

Name Version
nmea_gps_plugin 0.0.2

README

nmea_gps_plugin

Developed By OUXT Polaris

master develop
Build Status Build Status

Gazebo gps sensor plugin for publishing nmea_msgs/Sentence

Available Sentence

GPRMC

Timestamp,Status,Latitude,Longitude,Velocity,Heading of Velocity

https://docs.novatel.com/OEM7/Content/Logs/GPRMC.htm

GPGGA

Timestamp,Latitude,Longitude,Number of satelite,Altitude

https://docs.novatel.com/OEM7/Content/Logs/GPGGA.htm?Highlight=GPGGA

GPVTG

Heading of Velocity,Velocity

https://docs.novatel.com/OEM7/Content/Logs/GPVTG.htm?Highlight=GPVTG

GPHDT

True Heading

https://docs.novatel.com/OEM7/Content/Logs/GPHDT.htm?Highlight=GPHDT

example urdf setup

    <gazebo>
      <plugin name="gps_plugin_${name}" filename="libnmea_gps_plugin.so">
        <updateRate>15.0</updateRate>
        <alwaysOn>true</alwaysOn>
        <bodyName>${name}_link</bodyName>
        <frameId>${name}_link</frameId>
        <topicName>nmea_sentence</topicName>
        <!--<velocityTopicName>gps/fix_velocity</velocityTopicName>-->
        <!-- Location of origin of Gazebo Sand Island map -->
        <referenceLatitude>21.30996</referenceLatitude>
        <referenceLongitude>-157.8901</referenceLongitude>
        <referenceAltitude>0</referenceAltitude>
        <referenceHeading>90</referenceHeading>
        <velocityGaussiaNoise>0.05</velocityGaussiaNoise>
        <orientationGaussiaNoise>0.05</orientationGaussiaNoise>
        <positionGaussiaNoise>0.05</positionGaussiaNoise>        
      </plugin>
    </gazebo>

Demo

No video