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Supported Hardware

This driver should works with any gps sensor

ROS API

corobot_gps

corobot_gps is a driver for gps sensors. This driver was designed to get gps data for the Corobot.

Published Topics

extended_fix (corobot_msgs/GPSFix)

• Send the gps data

fix (sensor_msgs/NavSatFix)

• Send the gps data

Parameters

use_gps_time (bool, default: true)

• use the time from the gps

host (string, default: localhost)

• host name or ip address of the computer connected to the gps

port (int, default: 2947)

• port where the gps sends data to

Troubleshooting

Here is what you can do to configure your system to use your GPS:

First find out which port the gps used. For that, disconnect et reconnect your gps and in a terminal type

dmesg

Now open the file /etc/default/gpsd

sudo gedit /etc/default/gpsd

and change the line DEVICES="" by DEVICES="/dev/ttyUSB0" making sure that the port is the one the command dmesg gave you.

Lastely, create a rules file to get permission to use the gps device

touch /etc/udev/rules.d/corobot.rules
echo 'KERNEL=="ttyUSB0", GROUP="users", MODE="0666"' >> /etc/udev/rules.d/corobot.rules

Make sure the change the port, ttyUSB0, by the port dmesg gave you, generally in the form tty*.

Now you just need to restart the robot.