Olinrobotics.GitHub.io

Information

Our current GPS module was bought Here.

In case the link goes down, our device uses the Ublox 6010 chipset, with default baud rate of 115200.

The Quick start guide for Linux helps with verifying the GPS data, with default UI.

In my experience, I had better success with gpsmon than cgps.

Setup Guide to publish GPS data to ROS

1. Install The Driver:

   sudo apt-get install ros-indigo-nmea-*
   

2. Make ROS Recognize the new package:

   roscd nmea_navsat_driver
   

3. Run Roscore In a background process:

   roscore &
   

4. Run the NMEA publisher:

   rosrun nmea_navsat_driver nmea_serial_driver _port:=/dev/ttyACM0 _baud:=115200 #default baud rate is 115200
   

5. (TIP) If publishing to ROS fails, check that the GPS device publishes the correct NMEA DATA over the serial:

   Python Script

   import serial
   
   with serial.Serial('/dev/ttyACM0',115200) as ser:
      while ser._isOpen:
         print(ser.readline())