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gnss_poser#

Overview#

This is package to use GNSS with ROS messages.

Install#

GeographicLib#

This package use GeographicLib to calculate coordinates.

  1. Download files from https://sourceforge.net/projects/geographiclib/files/distrib/

  2. Build and install Geographiclib

    tar xfpz GeographicLib-1.50.1.
cd GeographicLib-1.50.1
mkdir BUILD
cd BUILD
../configure --prefix=/usr
make
sudo make install
sudo cp /usr/share/cmake/GeographicLib/FindGeographicLib.cmake /usr/share/cmake-3.5/Modules

  3. install geoid datasets

    geographiclib-get-geoids best

Ublox#

If you use ublox GNSS receiver, install below package. This allows to obtain heading while vehicle is stopping.

  1. Download package https://github.com/KumarRobotics/ublox.git
  2. build package

gnss_poser package#

This package use gnss package in autoware.

  1. download and build Autoware
  2. download and build this package

Usage#

roslaunch gnss_poser gnss_poser.launch

For ublox GNSS receiver

roslaunch gnss_poser ubloxfix2mgrs.launch

Configuration#

This package use egm2008-1 for geoid datasets.

Parameters can be set in Launch file.