GPS is much more difficult than I expected…
Over the past month, I explored navsat_nmea_driver and mapviz
For the GPS module I am using a Neo-7M with TLS to USB convertor.
navsat_nmea_driver helps convert raw GPS sensor data to a more human readable longitude and latitude.
install the driver using command:
sudo apt-get install ros-noetic-nmea-navsat-driver
install mapviz :
Run mapviz:
roscore
roslaunch mapviz mapviz.launch
Run nmea driver:
rosrun nmea_navsat_driver nmea_serial_driver _port:=/dev/ttyUSB0 _baud:=9600
if you use apt to install Mapviz, the launch file should be located under your ROS installation directory.
Here’s my launch file:
<launch>
<node pkg=”mapviz” type=”mapviz” name=”mapviz”></node>
<node pkg=”swri_transform_util” type=”initialize_origin.py” name=”initialize_origin” >
<param name=”local_xy_frame” value=”/map”/>
<param name=”local_xy_origin” value=”McMaster_U”/> <! — auto →
<rosparam param=”local_xy_origins”>
[{ name: McMaster_U,
latitude: 43.2569989,
longitude: -79.9203296,
altitude: 80,
heading: 0.0}]
<! —
{ name: back_40,
latitude: 29.447507,
longitude: -98.629367,
altitude: 200.0,
heading: 0.0}]
→
</rosparam>
<remap from=”fix” to=”/navsat/fix”/> <! — adding <remap from=”fix” to=”/navsat/fix”/> will make it listen to the topic from my bag file. →
</node>
<node pkg=”tf” type=”static_transform_publisher” name=”swri_transform” args=”0 0 0 0 0 0 /map /origin 100" />
</launch>
/opt/ros/noetic/share/mapviz/launch
By changing the local_xy_origins from default to my customized address, I was able to display Hamilton’s map in Rviz.
Reference:
