ros_nmea_driver: 解析GNSS消息的 ros 驱动,支持标准nmea0183 定位定向数据解析,支持 串口/网口 数据传输方式。
ros官方的nmea驱动不支持网口,且存在其他问题,所以自己写了一个,编译使用参考readme,支持GGA TRA定位定向报文解析,注意定向不固定的时候,不往外发送topic,部分topic echo 如下:
--------------------------------------------------------------------------------header: seq: 4343 stamp: secs: 0 nsecs: 0 frame_id: '' sentence: "$GPGGA,021131.00,3944.55287691,N,11619.33517748,E,1,18,2.3,73.3385,M,-9.1750,M,,*45\r\ \n" --- header: seq: 4344 stamp: secs: 0 nsecs: 0 frame_id: '' sentence: "$GPRMC,021131.00,A,3944.55287691,N,11619.33517748,E,0.009,2.6,040122,6.8,W,A*2E\r\ \n" --- header: seq: 4345 stamp: secs: 0 nsecs: 0 frame_id: '' sentence: "$GNVTG,2.598,T,9.446,M,0.00902,N,0.01671,K,A*3E\r\n" --- header: seq: 4346 stamp: secs: 0 nsecs: 0 frame_id: '' sentence: "$GPTRA,021131.00,0.00,0.00,0.00,0,00,0.00,0000*4E\r\n" --- header: seq: 4347 stamp: secs: 0 nsecs: 0 frame_id: '' sentence: "#HEADINGA,COM3,0,57.0,FINE,2191,180709.000,44398382,25,18;INSUFFICIENT_OBS,NONE,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,\"\ \",0,0,0,0,0,00,0,0*bcdcf4bf\r\n"
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---
header:
seq: 1397
stamp:
secs: 1641262290
nsecs: 928659116
frame_id: "gnss_link"
status:
status: 0
service: 0
latitude: 39.7425484785
longitude: 116.32225289
altitude: 73.3525
position_covariance: [2.6449999999999996, 0.0, 0.0, 0.0, 2.6449999999999996, 0.0, 0.0, 0.0, 2.6449999999999996]
position_covariance_type: 18
---