This is a simple driver that converts the NMEA strings provided by the Trimble BD960 board to be compatible with standard ros messages. Currently, it provides lattitude, longitude, altitude, and heading (along with a diagonal positional covariance matrix).
Currently supported NMEA sentence types are:
- GGA
- GST
- HDT
Support for more sentences may be added in the future
- ROS
- PySerial (Python Serial)
- Setup your GPS receiver to run on a serial port using one of the Trimble configuration utilities. (Ensure that the sentences you enable are supported.)
- Use the config file (
config/gps.yaml
) to choose your port, baudrate, and timeout. Your timeout should correspond roughly to the configured frequency. - Launch the node using
roslaunch ros_trimble_bd960 gps.launch
and the driver will begin to output messages on the topics.
- /gps/fix [NavSatFix] : Status, position, and covariance data
- /gps/heading [Float64] : Heading in degrees from True North
Copyright (c) 2019 Jeremy Mallette under MIT License