## repository: http://robotics.ccny.cuny.edu/git/ccny-ros-pkg.git/
<<PackageHeader(gpsd_viewer)>> <<TOC(4)>>

{{attachment:gpsd_viewer.png}}

== Usage ==
The package provides a means of visualizing GPS and map data using the Open Street Maps GTK Widget.

== Details ==
Map Viewer for GPS position data provided by <<MsgLink(gps_common/GPSFix)>> messages provided by [[gpsd_client]]. Due to GPS library and API synchronization issues this package requires Ubunut 10.04 or newer.

gpsd Version 2.92

Updating to the newest version of gpsd_client is also recommended.

Planned future updates include switching to [[http://en.wikipedia.org/wiki/Universal_Transverse_Mercator_coordinate_system|UTM]] co-ordinate system and a standardized GPS message format.

== Example ==

You can run the [[gpsd_viewer]] on a pre-recorded bag file that comes with the package. First, make sure you have the [[ccny_ground_station]] stack downloaded and installed by following the instructions [[ccny_ground_station#Installing|here]].

Next, make sure you have the necessary tools installed:

{{{
#!shell
rosmake rviz rosbag
}}}

Finally, run the demo:

{{{
#!shell
roslaunch gpsd_viewer demo.launch
}}}

You should then see a map display and a moving marker for the position data that was recorded.

<<Youtube(t0-ABAmCjkQ)>>

== Nodes ==
{{{
#!clearsilver CS/NodeAPI
node.0 {
  name = gpsd_viewer
  desc = This node provides a map and displays a marker indicating the position obtained from a <<MsgLink(gps_common/GPSFix)>> message.
  sub {
    0.name = /fix
    0.type = gps_common/GPSFix
    0.desc = This topic is advertised by [[gpsd_client]].
  }
}
}}}

== Bug Reports & Feature Requests ==
We appreciate the time and effort spent submitting bug reports.

Please use our [[http://robotics.ccny.cuny.edu/trac/|Trac]] to [[http://robotics.ccny.cuny.edu/trac/newticket?component=ccny_vision/ar_pose&type=defect|report bugs]] or [[http://robotics.ccny.cuny.edu/trac/newticket?component=ccny_vision/ar_pose&type=enhancement|request features]].

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