Sensor-driver for the Ultimate GPS Breakout from Adafruit using UART serial connection.
The driver utilizes the Adafruit_CircuitPython_GPS module, which may be installed through:
pip3 install adafruit-circuitpython-gps
Build and source the brov2_gps package and all it's dependencies:
colcon build --packages-up-to brov2_gps
source install/setup.bash
Run the gps_data_publisher node with default parameters:
ros2 run brov2_gps brov2_gps_exe
Configuring the settings can be done through making changes to the node parameter file and passing this as an argument when running the gps_data_publisher node:
ros2 run brov2_gps brov2_gps_exe --ros-args --params-file src/brov2_gps/params/params.yaml
- gps_topic_name: The name of the topic where GPS readings are published; default="gps_data"
- gps_period: The period in (seconds) between publishing of barometer updates; default=1
- serial_connection: The device name of the sensor when connected to the embedded computer; default="/dev/ttyUSB1"
The GPS provides positional updates consisting of latitude, longitude, and altitude through the following variables:
| Variable | Description |
|---|---|
| status | Describing if the GPS has a fix receiving information: (No, Yes) = (-1, 0) |
| latitude | Angle in (deg) from the Equator |
| longitude | Angle in (deg) from the Prime Meridian |
| altitude | Altitude in (meters) |