nmea_gps_plugin

master	develop

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

Changelog for package nmea_gps_plugin

0.0.2 (2019-07-13)

• Merge pull request #2 from OUXT-Polaris/develop Develop
• Merge pull request #1 from OUXT-Polaris/feature/improve_lat_lon_accuracy fix std::string NmeaGpsPlugin::convertToDmm(double value) function
• fix std::string NmeaGpsPlugin::convertToDmm(double value) function
• Update README.md
• Contributors: Masaya Kataoka
• Merge pull request #2 from OUXT-Polaris/develop Develop
• Merge pull request #1 from OUXT-Polaris/feature/improve_lat_lon_accuracy fix std::string NmeaGpsPlugin::convertToDmm(double value) function
• fix std::string NmeaGpsPlugin::convertToDmm(double value) function
• Update README.md
• Contributors: Masaya Kataoka
• Merge pull request #2 from OUXT-Polaris/develop Develop
• Merge pull request #1 from OUXT-Polaris/feature/improve_lat_lon_accuracy fix std::string NmeaGpsPlugin::convertToDmm(double value) function
• fix std::string NmeaGpsPlugin::convertToDmm(double value) function
• Update README.md
• Contributors: Masaya Kataoka