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cyberdog_tof package from sensors repocyberdog_gps cyberdog_lidar cyberdog_tof cyberdog_ultrasonic sensor_manager |
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | Apache License, Version 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/miroboticslab/sensors.git |
| VCS Type | git |
| VCS Version | rolling |
| Last Updated | 2023-10-07 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
GPS pluginlib plugins
Additional Links
No additional links.
Maintainers
- ZhengJunyuan
Authors
No additional authors.
bcm_gps
该模块主要提供GPS的驱动封装
- 外部参数通过
cyberdog_ception_bridge模块中params/bcmgps_config.toml载入 - GPS模块自身日志保存在
cyberdog_ception_bridge模块中logs路径下
主要接口部分如下：
namespace bcm_gps
{
typedef LD2BRM_PvtPvtPolledPayload GPS_Payload;
using NMEA_callback = std::function<void (uint8_t * str, uint32_t len)>;
using PAYLOAD_callback = std::function<void (std::shared_ptr<GPS_Payload> payload)>;
class GPS
{
public:
explicit GPS(PAYLOAD_callback PAYLOAD_cb = nullptr, NMEA_callback NMEA_cb = nullptr);
~GPS();
bool Open();
void Start();
void Stop();
void Close();
bool Ready();
void SetCallback(NMEA_callback NMEA_cb);
void SetCallback(PAYLOAD_callback PAYLOAD_cb);
void SetL5Bias(uint32_t biasCm);
void SetLteFilterEn(bool enable = true);
}; // class GPS
} // namespace bcm_gps
public函数：
构造函数：初始化GPS对象
explicit GPS(PAYLOAD_callback PAYLOAD_cb = nullptr, NMEA_callback NMEA_cb = nullptr);
-
PAYLOAD_cb：payload形式回调函数 -
NMEA_cb：NMEA标准格式字符串回调函数
开启设备：返回是否开启成功（构造函数会自动开启设备，主要用于手动调用Close()后重新开启）
bool Open();
打开定位
void Start();
关闭定位
void Stop();
关闭设备（关闭后会清空注册的回调函数，重新打开需要Open()后重新注册回调函数获取数据）
void Close();
获取硬件设备准备状态：返回准备是否成功
bool Ready();
注册回调函数
void SetCallback(NMEA_callback NMEA_cb);
void SetCallback(PAYLOAD_callback PAYLOAD_cb);
-
PAYLOAD_cb：payload形式回调函数 -
NMEA_cb：NMEA标准格式字符串回调函数
Input L5 bias in centimeter
void SetL5Bias(uint32_t biasCm);
- biasCm：L5 bias in centimeter
Enable/Disable LTE Filter
void SetLteFilterEn(bool enable = true);
- enable：Enable/Disable
GPS_Payload消息结构
/** @brief BRM-NAV-PVT (0x01 0x07)
*
*/
PACK(
typedef struct
{
U4 iTOW;
U2 year;
U1 month;
U1 day;
U1 hour;
U1 min;
U1 sec;
X1 valid;
U4 tAcc;
I4 nano;
U1 fixType;
X1 flags;
X1 flags2;
U1 numSV;
I4 lon;
I4 lat;
I4 height;
I4 hMSL;
U4 hAcc;
U4 vAcc;
I4 velN;
I4 velE;
I4 velD;
I4 gSpeed;
I4 headMot;
U4 sAcc;
U4 headAcc;
U2 pDOP;
I1 leapS;
U1 reserved1[5];
I4 headVeh;
I2 magDec;
U2 magAcc;
}) LD2BRM_PvtPvtPolledPayload;
外部参数
外部参数通过cyberdog_ception_bridge模块中params/bcmgps_config.toml载入
skip_download = false # need in first line
onlyfirst_download = true
tty = "/dev/ttyTHS0"
patch_path = "/usr/sbin/bream.patch"
#uint8_t infMsgMask[6] = {0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F};
#full logging (GLLIO, GLLAPI, RAWDATA, DEVKF, USR2, )
infMsgMask = [31, 31, 31, 31, 31, 31]
#1(L1 Best) 2(L1 Auto) 3(L1 ULP), 4(L1L5 Best) 5(L1L5 Auto)
PowerModePreset = 4
MsgRate = [
1, # Report GPGGA rate
1, # Report GPRMC rate
1, # Report GPGSV rate
1, # Report NAVEOE rate
1, # Report NAVPVT rate
1, # Report PGLOR SPEED rate
1, # Report PGLOR FIX rate
1, # Report PGLOR SAT rate
1, # Report PGLOR LSQ rate
1, # Report PGLOR PWR rate
1, # Report PGLOR STA rate
1, # Report NAVODO rate
1, # Report NAVSAT rate
1, # Report NAVDOP rate
1, # Report CBEE status rate
1, # Report ASC SUBFRAMES rate
1, # Report ASC MEAS rate
1 # Report ASC AGC rate
]
AckAiding = true
-
skip_download：是否跳过下载patch（请置于首行） -
onlyfirst_download：仅编译后首次下载（该选项为true将会在下载后将skip_download置为true） -
tty：设备号 -
patch_path：下载patch路径 -
infMsgMask：GPS模块日志配置 -
PowerModePreset：GPS频段选择- 1：(L1 Best)
- 2：(L1 Auto)
- 3：(L1 ULP)
- 4：(L1L5 Best) (默认)
- 5：(L1L5 Auto)
-
MsgRate：消息频率设置（0为关闭） -
AckAiding：true/false
Example
class Example
{
public:
std::shared_ptr<bcm_gps::GPS> gps_;
std::shared_ptr<bcm_gps::GPS_Payload> payload_;
Example()
{
gps_ = std::make_shared<bcm_gps::GPS>(std::bind(
&Example::payload_callback, this, std::placeholders::_1));
}
void Func()
{
gps_->Start();
gps_->Stop();
gps_->Close();
}
void payload_callback(std::shared_ptr<bcm_gps::GPS_Payload> payload)
{
payload_ = payload;
}
}; // class example
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake_ros | |
| ament_lint_auto | |
| ament_lint_common | |
| pluginlib | |
| rclcpp | |
| params | |
| cyberdog_common | |
| cyberdog_system | |
| ament_index_cpp | |
| protocol | |
| cyberdog_embed_protocol |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| sensor_manager |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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