def InitGPS(self):
if (not self.GPSInit):
self.GPSInit = True
#connect the serial link
self.phys = garmin.SerialLink(self.db.GetSerialDevice())
#connect to the garmin
self.gps = garmin.Garmin(self.phys)
def __init__(self):
self.correction_sub_topic = rospy.get_param(
"gps_correction_rover/correction_sub_topic", "fix/correction")
self.pub_topic = rospy.get_param("gps_correction_rover/pub_topic",
"fix")
self.pub_rate = rospy.get_param("gps_correction_rover/pub_rate", 1.0)
dev_path = rospy.get_param("gps_correction_rover/dev_path",
"/dev/sensors/garmin_gps")
# Create a 'physical layer' connection using serial port
phys = garmin.SerialLink(dev_path)
# Create a Garmin object using this connection
self.gps = garmin.Garmin(phys)
# Turn on Position Velocity Time
self.gps.pvtOn()
rospy.Subscriber(self.correction_sub_topic, GpsCorrection,
self.correct_fix)
self._pub_fix = rospy.Publisher(self.pub_topic,
NavSatFix,
queue_size=1)
self.fix = NavSatFix()
rate = rospy.Rate(self.pub_rate)
while not rospy.is_shutdown():
pass
def __init__(self):
#Ros Parameters
self.pub_topic = rospy.get_param("gps_correction_base/pub_topic",
"fix/correction")
self.base_lat = rospy.get_param("gps_correction_base/base_lat",
30.385178399728332)
self.base_lon = rospy.get_param("gps_correction_base/base_long",
-97.72850900888446)
self.base_alt = rospy.get_param("gps_correction_base/base_alt", 243.0)
self.pub_rate = rospy.get_param("gps_correction_base/pub_rate", 1.0)
dev_path = rospy.get_param("gps_correction_base/dev_path",
"/dev/sensors/garmin_gps")
# Create a 'physical layer' connection using serial port
phys = garmin.SerialLink(dev_path)
# Create a Garmin object using this connection
gps = garmin.Garmin(phys)
# Turn on Position Velocity Time
gps.pvtOn()
# Publisher and Msgs
self._pub_correction = rospy.Publisher(self.pub_topic,
GpsCorrection,
queue_size=1)
self.current_correction = GpsCorrection()
rate = rospy.Rate(self.pub_rate)
while not rospy.is_shutdown():
data = gps.getPvt()
lat = data.rlat * 180 / math.pi
lon = data.rlon * 180 / math.pi
# Correction applied and published
self.current_correction.lat = lat - self.base_lat
self.current_correction.lon = lon - self.base_lon
self.current_correction.alt = data.alt - self.base_alt
self.current_correction.tow = data.tow
self._pub_correction.publish(self.current_correction)
# getPvt is called again and not used because apparently the data is in a different format when called an even number of times. The next call will provide data I can currently understand.
gps.getPvt()
rate.sleep()
#! /usr/bin/env python
import sys, os, math
from time import sleep
sys.path.append(
os.path.dirname(os.path.dirname(os.path.realpath(__file__))) + "/pygarmin")
import garmin
# Create a 'physical layer' connection using serial port
phys = garmin.SerialLink("/dev/sensors/garmin_gps")
# Create a Garmin object using this connection
gps = garmin.Garmin(phys)
# Turn on Position Velocity Time
gps.pvtOn()
sys.stdout.write("\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n")
while True:
data = gps.getPvt()
sys.stdout.write(
"\033[F\033[F\033[F\033[F\033[F\033[F\033[F\033[F\033[F\033[F\033[F\033[F\033[F\033[F"
)
sys.stdout.write("Fix: " + str(data.fix))
sys.stdout.write("\nAlt: " + str(data.alt))
sys.stdout.write("\nLat: " + str(data.rlat * 180 / math.pi))
sys.stdout.write("\nLon: " + str(data.rlon * 180 / math.pi))
sys.stdout.write("\n...........")
def main():
if os.name == 'nt':
serialDevice = 0
phys = Win32SerialLink(serialDevice)
else:
serialDevice = "/dev/ttyS0"
if sys.platform[:-1] == "freebsd":
serialDevice = "/dev/cuaa0" # For FreeBsd
phys = garmin.SerialLink(serialDevice)
# Don't forget to convert between different OS
# Windows text files record separator : \r\n
# Unix text files record separator \n
# Use the right tools to convert them
# nawk 'BEGIN {RS = "\r\n";ORS = "" } {print $0}' oziewayp1.wpt > oziewayp1.stripped.wpt
gps = garmin.Garmin(phys)
gps.wptLink.abortTransfer()
# Code for OziExplorer
# Get info from GPS and store into OziExplorer
if 0:
ozie = OziExplorer(gps)
print "Check the code:"
print "---------------"
print "Get the waypoint(s) and save them to the file: ozie.wpt"
ozie.getWaypoints("ozie.wpt")
print "Get the route(s) and save them to the file: ozie.rte"
ozie.getRoutes("ozie.rte")
print "Get the track(s) and save them to *.plt files"
ozie.getTracks()
# Sent OziExplorer to your GPS, change your path first !!
if 0:
ozie.putWaypoints("/path/to/ozie.wpt")
ozie.putRoutes("/path/to/ozie.rte")
ozie.putTracks("/path/to/ozie.plt")
# Code for GPX
# Get info from GPS and store into gpx format
if 0:
print "Check the code:"
print "---------------"
file = open('pygarmin.gpx','w')
gpx = Gpx(gps)
# Init some values
gpx.getStart(file)
print "Get the waypoint(s) and append to pygarmin.gpx"
gpx.getWaypoints()
print "Get the route(s) and append to pygarmin.gpx"
gpx.getRoutes()
print "Get the track(s) and append to pygarmin.gpx"
gpx.getTracks()
# Write "</gps>" to the file
gpx.getClose()
file.close()
print "Everything is saved to pygarmin.gpx"
# Sens gpx format to your GPS
if 0:
print "Check the code:"
print "---------------"
gpx = Gpx(gps)
print "Send waypoints from pygarmin.gpx to your GPS"
gpx.putWaypoints("pygarmin.gpx")
print "Send routes from pygarmin.gpx to your GPS"
gpx.putRoutes("pygarmin.gpx")
print "Send tracks from pygarmin.gpx to your GPS"
gpx.putTracks("pygarmin.gpx")