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Developed By OUXT Polaris
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Gazebo gps sensor plugin for publishing nmea_msgs/Sentence

Available Sentence

GPRMC

Timestamp,Status,Latitude,Longitude,Velocity,Heading of Velocity

https://docs.novatel.com/OEM7/Content/Logs/GPRMC.htm

GPGGA

Timestamp,Latitude,Longitude,Number of satelite,Altitude

https://docs.novatel.com/OEM7/Content/Logs/GPGGA.htm?Highlight=GPGGA

GPVTG

Heading of Velocity,Velocity

https://docs.novatel.com/OEM7/Content/Logs/GPVTG.htm?Highlight=GPVTG

GPHDT

True Heading

https://docs.novatel.com/OEM7/Content/Logs/GPHDT.htm?Highlight=GPHDT

### example urdf setup

<gazebo>
<plugin name="gps_plugin_${name}" filename="libnmea_gps_plugin.so">
<updateRate>15.0</updateRate>
<alwaysOn>true</alwaysOn>
<bodyName>${name}_link</bodyName>
<frameId>${name}_link</frameId>
<topicName>nmea_sentence</topicName>
<referenceLatitude>21.30996</referenceLatitude>
<referenceLongitude>-157.8901</referenceLongitude>
<referenceAltitude>0</referenceAltitude>
<referenceHeading>90</referenceHeading>
<velocityGaussiaNoise>0.05</velocityGaussiaNoise>
<orientationGaussiaNoise>0.05</orientationGaussiaNoise>
<positionGaussiaNoise>0.05</positionGaussiaNoise>
</plugin>
</gazebo>

Demo



nmea_gps_plugin
Author(s):
autogenerated on Wed Jul 17 2019 03:51:23