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GPSDriver component

This is the GPSDriver component from the GenoM3 OSMOSIS show case. It controls an ublox GPS.

It produces a pose_estimator in port GpsPose (out).

Ports

GpsPose (out)

Data structure

  • struct ::or_pose_estimator::state GpsPose

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • boolean intrinsic

    • optional< struct ::or::t3d::pos > pos

      • double x

      • double y

      • double z

    • optional< struct ::or::t3d::att > att

      • double qw

      • double qx

      • double qy

      • double qz

    • optional< struct ::or::t3d::pos_cov > pos_cov

      • double cov[28]

    • optional< struct ::or::t3d::vel > vel

      • double vx

      • double vy

      • double vz

    • optional< struct ::or::t3d::avel > avel

      • double wx

      • double wy

      • double wz

    • optional< struct ::or::t3d::vel_cov > vel_cov

      • double cov[21]

    • optional< struct ::or::t3d::acc > acc

      • double ax

      • double ay

      • double az

    • optional< struct ::or::t3d::aacc > aacc

      • double awx

      • double awy

      • double awz

    • optional< struct ::or::t3d::pos_cov > pos_cov

      • double cov[6]

    • optional< struct ::or::t3d::att_cov > att_cov

      • double cov[10]

    • optional< struct ::or::t3d::att_pos_cov > att_pos_cov

      • double cov[12]

    • optional< struct ::or::t3d::vel_cov > vel_cov

      • double cov[6]

    • optional< struct ::or::t3d::avel_cov > avel_cov

      • double cov[6]

    • optional< struct ::or::t3d::acc_cov > acc_cov

      • double cov[6]

    • optional< struct ::or::t3d::aacc_cov > aacc_cov

      • double cov[6]

The pose_estimator produced by the GPS: longitude, latitude, altitude, translated in x,y,z with a local 0,0,0.

Services

SetCorrected (attribute)

Inputs

  • boolean corrected

Set the corrected flag (position has been translated locally to xyz 0,0,0). If you set it to True the next measure will be used as the local 0,0,0.

SetDevice (attribute)

Inputs

  • string device (default "/dev/ublox")

Set the device name for com.

SetBaudrate (attribute)

Inputs

  • long baudrate (default "115200")

Set the speed for com. By default 115200 for serial line and useless for USB.

SetVerbose (function)

Inputs

  • long verbose_level (default "0") Verbose level

Set the verbose level.

Stop (function)

Context

Stop Measurement.

ConnectDevice (function)

Throws

  • exception ::GPSDriver::cant_open_device

  • exception ::GPSDriver::cant_set_parameter

Connect to the device

ConfigureDevice (function)

Inputs

  • long frame_rate (default "10") Rate at which the GPS sends frame
Throws

  • exception ::GPSDriver::cant_open_device

  • exception ::GPSDriver::cant_set_parameter

Configure the device

Measure (activity)

Throws

  • exception ::GPSDriver::bad_gps_pose_port
Context

Get a measure from the GPS and and publish it (after correcting the local position) in the GpsPose (out) port.

Tasks

update

Context

  • Frequency 9.090909090909092 Hz