racebot入门教程-测试-测试GPS(室外版)

racebot入门教程-测试-测试GPS

说明：

介绍如何测试GPS
测试GPS为ublox的usb m8u GPS

相关设备：

racebot套件，采购地址

步骤：

2020年04月后采购的版本不需要单独配置
安装驱动：
以racebot目录为例：

cd ~/racecar-ws/src/
git clone https://github.com/KumarRobotics/ublox
cd ..
catkin_make

确认端口：一般为ttyACM0, ttyACM1
修改m8u_rover.yaml参数：

cd ~/racecar-ws/src/ublox/ublox_gps/config 
vim m8u_rover.yaml

修改对应端口，使用想要的frame_id

device: /dev/ttyACM0
frame_id: gps

修改对应波特率，要与ublox本身设置一致，ublox默认波特率为9600

uart1:
    baudrate: 9600

保存退出
再修改launch文件

cd ~/racecar-ws/src/ublox/ublox_gps/launch 
cp ublox_device.launch ublox_gps.launch
vim ublox_gps.launch

修改后内容：

<?xml version="1.0" encoding="UTF-8"?>

<launch>
  <arg name="node_name" default="gps" />
  <arg name="param_file_name" default="m8u_rover" doc="name of param file, e.g. rover" />
  <arg name="output" default="screen" />
  <arg name="respawn" default="true" />
  <arg name="respawn_delay" default="30" />
  <arg name="clear_params" default="true" />

  <node pkg="ublox_gps" type="ublox_gps" name="$(arg node_name)"
        output="$(arg output)" 
        clear_params="$(arg clear_params)"
        respawn="$(arg respawn)" 
        respawn_delay="$(arg respawn_delay)">
    <rosparam command="load" 
              file="$(find ublox_gps)/config/$(arg param_file_name).yaml" />
  </node>
</launch>

测试

启动GPS （旧版）

roslaunch racebot gps.launch （新版）
roslaunch ublox_gps ublox_gps.launch （旧版）

启动后打印的消息

[ INFO] [1575608866.273780528]: U-Blox: Opened serial port /dev/gps0
[DEBUG] [1575608866.275365648]: Configuring UART1 baud rate: 9600, In/Out Protocol: 16 / 16
[DEBUG] [1575608866.284718544]: ROM CORE 3.01 (107888), HW VER: 00080000
[DEBUG] [1575608866.285210576]: FWVER=SPG 3.01
[DEBUG] [1575608866.285436720]: PROTVER=18.00
[DEBUG] [1575608866.285497104]: GPS;GLO;GAL;BDS
[DEBUG] [1575608866.285538928]: SBAS;IMES;QZSS
[ INFO] [1575608866.285750832]: U-Blox Firmware Version: 8
[DEBUG] [1575608866.359059408]: Configuring measurement rate to 250 and nav rate to 4
[DEBUG] [1575608866.360342128]: Configuring SBAS: usage 0, max_sbas 0
[DEBUG] [1575608866.361039056]: Enabling PPP
[DEBUG] [1575608866.361741456]: Setting dynamic model to 0
[DEBUG] [1575608866.362313136]: Setting fix mode to 3
[DEBUG] [1575608866.362775120]: Setting DR Limit to 1
[DEBUG] [1575608866.363734832]: Read GNSS config.
[DEBUG] [1575608866.363813296]: Num. tracking channels in hardware: 32
[DEBUG] [1575608866.363870032]: Num. tracking channels to use: 32
[DEBUG] [1575608866.363933104]: U-Blox GNSS configuration is correct. GNSS not re-configured.
[DEBUG] [1575608866.363995760]: Saving the u-blox configuration, mask 3103, device 4
[ INFO] [1575608866.364388496]: U-Blox configured successfully.
[DEBUG] [1575608866.364448880]: Subscribing to U-Blox messages
[ERROR] [1575608866.455682960]: U-blox: received NACK: 0x06 / 0x01
[DEBUG] [1575608866.456159632]: Configuring INF messages
[ INFO] [1575608866.811267824]: INF: u-blox AG - www.u-blox.com
[ INFO] [1575608866.811805328]: INF: HW UBX-M8030 00080000
[ INFO] [1575608866.812467280]: INF: ROM CORE 3.01 (107888)
[ INFO] [1575608866.812786608]: INF: FWVER=SPG 3.01
[ INFO] [1575608866.813026608]: INF: PROTVER=18.00
[ INFO] [1575608866.813255536]: INF: GPS;GLO;GAL;BDS
[ INFO] [1575608866.813491344]: INF: SBAS;IMES;QZSS
[ INFO] [1575608866.813707408]: INF: GNSS OTP=GPS;GLO
[ INFO] [1575608866.813943952]: INF: LLC=FFFFFFFF-FFFFFFED-FFFFFFFF-FFFFFFFF-FFFFFFED
[ INFO] [1575608866.814167216]: INF: ANTSUPERV=AC SD PDoS SR
[ INFO] [1575608866.814410128]: INF: ANTSTATUS=OK
[ INFO] [1575608866.814610864]: INF: PF=3FF

查看话题

$ rostopic list
/diagnostics
/gps/aidalm
/gps/aideph
/gps/fix
/gps/fix_velocity
/gps/monhw
/gps/navclock
/gps/navpvt
/gps/navsat
/gps/navstatus
/rosout
/rosout_agg

查看话题/gps/fix内容

$ rostopic echo /gps/fix
header: 
  seq: 1357
  stamp: 
    secs: 1574329668
    nsecs:  67617409
  frame_id: "gps"
status: 
  status: 0
  service: 3
latitude: 23.0648413
longitude: 113.0547081
altitude: -38.78
position_covariance: [27.185796000000003, 0.0, 0.0, 0.0, 27.185796000000003, 0.0, 0.0, 0.0, 44.408896]
position_covariance_type: 2

latitude：纬度，北纬为正数，南纬为负数
longitude：经度，东经为正数，西经为负数
altitude：海拔高度，单位是米

经纬度查询链接

参考：

https://github.com/KumarRobotics/ublox
http://wiki.ros.org/ublox

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