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No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
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No version for distro rolling. Known supported distros are highlighted in the buttons above.
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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 |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| nmea_gps_plugin | 0.0.2 |
README
nmea_gps_plugin
| master | develop |
|---|---|
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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
CONTRIBUTING
No CONTRIBUTING.md found.