室外gps+imu小车系列（一）——双天线gps话题的发布

所用设备的输出：

[21:39:29:911] $GPTRA,043930.40,265.39,-00.05,000.00,4,20,0.00,0000*52␍␊
[21:39:29:916] $GPGGA,043930.40,2309.5803027,N,11320.5363700,E,1,20,0.7,40.0725,M,-6.810,M,,*70␍␊

其中GPTRA获取到的是航向信息，GPGGA获取到的是位置信息和差分状态信息，具体每个数字代表的是什么意思，可以查看NEMA协议
在基础的gps导航中，只要获取到小车的航向偏差，位置偏差就可以让小车按照预定的轨迹行走。这其中用到的便是航向与位置。第一步要做的就是把它们发布成话题发布出来。

使用的环境是ubuntu18.04+ros（melodic)。
代码：
gps.msg

Header header #时间包头
#string utc_time #utc时间 eg:073617.90 表示07时36分17.9秒
float64 latitude #纬度
float64 longitude #经度
int32 satellite_num #可搜索卫星数
int32 gps_status # GPS状态
float64 elevation #高程值
float64 time_diff #差分延时
float64 speed #速度
float64 roll_angle #横滚角
float64 heading_angle #航向角

pub_gps.cpp
其中串口号需要根据插入设备在自己机器上的情况进行修改。
可以先通过sudo apt-get install cutecom安装cutecom,再在终端使用sudo cutecom查看

头文件

//头文件
#ifndef _PUB_ANDROID_H
#define _PUB_ANDROID_H
#include "ros/ros.h"
#include "pub_gps/double_gps.h"
#include <sstream>
#include <serial/serial.h>
#include <ctime>
#include <iostream>
#include <cstdlib>
#include <libudev.h>
using namespace std;
tm time_struct = {0};

class GPSParser {
public:
  GPSParser();
  ~GPSParser();
  void run();

private:
  void parseData(const std::string &data);

private:
  ros::NodeHandle nh_;
  ros::Publisher pub_gps_data_;
  serial::Serial ser_;
  ros::Rate loop_rate_;
};
#endif

源文件

#include "pub_gps/pub_Android.h"

GPSParser::GPSParser()
  : loop_rate_(100)  // 定义定时器的频率为100Hz
{
  pub_gps_data_ = nh_.advertise<pub_gps::double_gps>("/GpsData", 100);


  std::string port = "/dev/tty_doubleGps";  // 假设串口号为 绑定串口号

  unsigned long baudrate = 115200;

  try {
    ser_.setPort(port);
    ser_.setBaudrate(baudrate);
    serial::Timeout to = serial::Timeout::simpleTimeout(1000);
    ser_.setTimeout(to);
    ser_.open();
  } catch (serial::IOException &e) {
    ROS_ERROR_STREAM("Unable to open port.");
    return;
  }

  if (ser_.isOpen()) {
    ROS_INFO_STREAM("Serial Port initialized.");
  } else {
    return;
  }
}

GPSParser::~GPSParser()
{
  ser_.close();
}

void GPSParser::run()
{
  while (ros::ok()) {
    if (ser_.available()) {
      std::string raw_data = ser_.readline();
      parseData(raw_data);
    }
    ros::spinOnce();
    loop_rate_.sleep();  // 等待定时器到期，以达到设定的频率
  }
}


void GPSParser::parseData(const std::string &data)
{
  pub_gps::double_gps gps_data;

  std::istringstream ss(data);
  std::string token;
  std::getline(ss, token, ','); // 包头

  gps_data.header.stamp = ros::Time::now();
  gps_data.header.frame_id = "gps_link";
  gps_data.header.seq = 1;

  std::getline(ss, token, ','); // utc时间戳

  std::getline(ss, token, ','); // 纬度
  gps_data.latitude = std::stold(token);
  std::getline(ss, token, ','); // 经度
  gps_data.longitude = std::stold(token);

  std::getline(ss, token, ','); // 卫星数目
  gps_data.satellite_num = std::stoi(token);

  std::getline(ss, token, ','); // 差分状态
  gps_data.gps_status = std::stoi(token);

  std::getline(ss, token, ','); // 高程
  gps_data.elevation = std::stold(token);
  std::getline(ss, token, ','); // 差分延时
  gps_data.time_diff = std::stold(token);
  std::getline(ss, token, ','); // 速度
  gps_data.speed = std::stold(token);
  std::getline(ss, token, ','); // 横滚
  gps_data.roll_angle = std::stold(token);
  std::getline(ss, token); // 航向
  gps_data.heading_angle = std::stold(token);

  pub_gps_data_.publish(gps_data);
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "gps_parser_node");

  GPSParser gps_parser;
  gps_parser.run();

  return 0;
}

CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(pub_gps)

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  roscpp
  sensor_msgs
  serial
  std_msgs
  message_generation
)


add_message_files(
  FILES
  double_gps.msg
)
## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  std_msgs
)


catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES pub_gps
  CATKIN_DEPENDS geometry_msgs roscpp sensor_msgs serial std_msgs message_runtime
#  DEPENDS system_lib
)



include_directories(
 include 
  ${catkin_INCLUDE_DIRS}
)

add_executable(pub_gps src/pub_gps.cpp)

add_executable(pub_Android src/pub_Android.cpp)

add_dependencies(pub_gps ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_dependencies(pub_Android ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
target_link_libraries(pub_gps
  ${catkin_LIBRARIES}

)
target_link_libraries(pub_Android
  ${catkin_LIBRARIES}
  udev
)

package.xml

<?xml version="1.0"?>
<package format="2">
  <name>pub_gps</name>
  <version>0.0.0</version>
  <description>The pub_gps package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="pc@todo.todo">pc</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>


  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/pub_gps</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>geometry_msgs</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <build_depend>serial</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>message_generation</build_depend>
  <build_export_depend>geometry_msgs</build_export_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>sensor_msgs</build_export_depend>
  <build_export_depend>serial</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <exec_depend>geometry_msgs</exec_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>sensor_msgs</exec_depend>
  <exec_depend>serial</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>message_runtime</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

我使用的编程环境是vscode。把整个功能包导入自己的工作空间后，由于使用了自定义的msg文件，需要在catkin_make后把build生成的gps.h文件的路径加入到c_cpp_properties.json文件里，具体为：

配置好后使用如下指令可以发布话题

rosrun pub_gps pub_gps

然后查看话题发布和话题的频率，这里我用的是10hz

后续会写怎么用gps+imu控制小车跑起来。