def talker():
rospy.init_node('GPS_Streamer')
pub = rospy.Publisher("GPS_Data",
mavric.msg.GPS,
queue_size=10,
latch=True)
r = rospy.Rate(10)
gps = GPS('/dev/serial0')
gps.begin()
while not rospy.is_shutdown():
print(gps._data)
gps.update()
pub.publish(gps.good_fix, gps.latitude, gps.longitude, gps.altitude,
gps.speed, gps.heading, gps.satellites)
r.sleep()
from gps import GPS
from rfcomm import RFCOMM
import time
import subprocess
print("STARTING...")
rf = RFCOMM()
gps = GPS()
subprocess.run(["hciconfig", "hci0", "piscan"])
while True:
if rf.client_connected:
data = gps.update()
if data is not None:
print("DATA: " + data)
rf.send_data(data + "\r\n")
time.sleep(0.1)
else:
gps.stop()
print("WAIT FOR CLIENT...")
rf.wait_for_client()
print("CLIENT ACCEPTED")
gps.start()
print("ENABLE GPS")
