autodrive入门教程-测试-GPS测试

autodrive入门教程-测试-GPS测试

说明：

• 介绍如何测试GPS
• 测试GPS为ublox的usb m8u GPS

步骤：

• 启动GPS

roslaunch racebot_tools gps.launch 

• 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