gps_umd

This package contains messages for representing data from GPS devices and algorithms for manipulating it.

This branch converts the messages and algorithms in this repository to support ROS 2 Dashing.

There have been a few architectural changes; if you were using these packages in ROS1, note that the gps_common package has been split into two packages: gps_msgs contains only message definitions, and gps_tools contains the nodes and scripts that were in gps_common. In addition, all of the C++ nodes that were in this repository have been converted into Components.

Build Status

Continuous integration status

Build farm status and released packages

ROS2 Distro	ROS2 Build Farm	Released packages
Humble		gps_msgs gps_tools gpsd_client
Jazzy		gps_msgs gps_tools gpsd_client
Kilted		gps_msgs gps_tools gpsd_client
Lyrical		gps_msgs gps_tools gpsd_client
Rolling		gps_msgs gps_tools gpsd_client

gpsd_client Parameters

The gpsd_client::GPSDClientComponent node accepts the following parameters:

Parameter	Type	Default	Description
host	string	localhost	Hostname or address of the gpsd server to connect to.
port	int	2947	TCP port of the gpsd server.
frame_id	string	gps	frame_id set on the header of published GPSFix and NavSatFix messages.
publish_rate	int	10	How often, in Hz, to poll gpsd and publish. Values <= 0 are rejected with a warning and fall back to 1 Hz.
use_gps_time	bool	true	Stamp NavSatFix messages with the time reported by the GPS receiver instead of the current ROS time.
check_fix_by_variance	bool	false	Discard fixes whose reported variances (epx/epy/epv) are not finite. gpsd reports a status of OK even when there is no current fix, as long as there was one previously; this rejects those stale results.
override_augmentation_source	bool	false	When gpsd reports a DGPS fix, always report it as an SBAS fix, whether or not a satellite with an SBAS ID was used in the solution. Useful for receivers that apply SBAS corrections without listing the SBAS satellite in their skyview. Affects both NavSatFix and GPSFix status.

These are the node's built-in defaults, used when a parameter is not set. They match the config file shipped in gpsd_client/config/gpsd_client.yaml, which is what gpsd_client-launch.py loads, so launching from that file and instantiating the component directly behave the same.

NavSatFix vs. GPSFix

The node fix_translator converts sensor_msgs/NavSatFix messages to gps_common/GPSFix messages and vice versa. Usage examples:

Translate from NavSatFix to GPSFix

  <node name="fix_translator" pkg="gps_common" type="fix_translator">
    <!-- Translate from NavSatFix to GPSFix //-->
      <remap from="/navsat_fix_in"  to="/YOUR_NAVSATFIX_TOPIC"/>
      <remap from="/gps_fix_out"    to="/YOUR_GPSFIX_TOPIC"/>
  </node>

Translate from GPSFix to NavSatFix

  <node name="fix_translator" pkg="gps_common" type="fix_translator">
    <!-- Translate from GPSFix to NavSatFix //-->
       <remap from="/gps_fix_in"     to="/YOUR_GPSFIX_TOPIC"/>
       <remap from="/navsat_fix_out" to="/YOUR_NAVSATFIX_TOPIC"/>
  </node>

Only adjust the topic names after "to=" in each remap line.