gps_rtk_pckg.gps_talker_usb

Module Contents

Classes

GpsTalkerUsb

Class of gps_talker node.

Functions

main	ROS 2 node main.

API

class gps_rtk_pckg.gps_talker_usb.GpsTalkerUsb

Bases: rclpy.node.Node

Class of gps_talker node.

Initialization

Constructor taking dynamics parameters ROS 2 for the update rate and the device name via USB. Publish a topic with all the data received.

Parameters:

• update_rate_hz (float) – [ROS 2 param] Update rate of data reception. For Emlid Reach M2, defaults to 10.0 Hz.

• device_name (str) – [ROS 2 param] The port USB name, defaults to ‘/dev/ttyACM0’.

base_position_srv_callback(request, response)

Work in progress.

Parameters:

• request

• response

Returns:

None

timer_callback()

Callback function to read the USB port, and retrieve data, if there is no connection error. Useful data is extracted from the raw data, then published in a topic with the correct message format.

Returns:

None

connection()

Function to define and restore USB connection in the case of an error. WARNING: For a frequency of 100ms, we read the port all the 10ms (10%).

Returns:

None

extraction_donnees_gps_nmea(raw_d)

Extracts the desired data from the raw data received via the USB port, in NMEA format.

Parameters:

raw_d (str)

Returns:

gps_rtk_pckg.gps_talker_usb.main(args=None)

ROS 2 node main.