ROS package to get GNSS information from Quectel GNSS L86 modules using UART communication.
gnss_l86_interface uses gnss_l86_lib to obtain messages from the module and publish real time GNSS information to the gnss_data topic. The message structure is:
float64 latitude
float64 longitude
int64 fix
int64 number_of_satelites
float64 horizontal_precision
float64 altitude
float64 timestamp
gnss_l86_interface has been developed and tested in November 2018 for ROS Kinetic using a Raspberry Pi 3 model B with Ubuntu 16.04 as Operating System. Other platforms, operating systems or distributions have not been tested and may requiere source code modification.
gnss_l86_lib relies on wiringPi for establishing a serial connection with the GNSS module. The distributor offers different installation procedures. The one used for the development of this package was:
$ git clone git://git.drogon.net/wiringPi
$ cd wiringPi
$ git pull origin
$ ./build
This will complete the library instalation. For this case, the header files where included under /usr/local/include/. However, this has not been tested for other distributuions. In case the destination folder changes, the following line of CMakeLists.txt needs to be modify to reflect the installation directory.
set(wiringPi_include /usr/local/include)For installing this package, just place it under the src/ directory of your Catkin Workspace.
The gnss_l86_interface_node can be run with:
$ rosrun gnss_l86_interface gnss_l86_interface_node <port>
Where <port> specifies the serial port where the module is attached. An example of this command would be:
$ rosrun gnss_l86_interface gnss_l86_interface_node /dev/serial0
gnss_l86_interface_node has been developed by Eduardo Ponz for the use on the project Project Name.
This project is licensed under the MIT License - see the LICENSE.md file for details.