nmea_gps_plugin

Developed By OUXT Polaris

master	develop

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