gps_rtk_pckg.gps_talker_wifi

Module Contents

Classes

GpsTalker

Class of gps_talker_wifi node.

Functions

main	ROS 2 node main.

API

class gps_rtk_pckg.gps_talker_wifi.GpsTalker

Bases: rclpy.node.Node

Class of gps_talker_wifi node.

Initialization

Constructor taking dynamics parameters ROS 2 for the update rate and the ip name via Wi-Fi. Publish a topic with all the data received. IMPORTANT: We recommand to receive data by USB, with the other node.

Parameters:

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

• ip_host (str) – [ROS 2 param] The IP adress via Wi-Fi, defaults to ‘192.168.42.1’ in access point for the GPS.

• port_nmea (int) – [ROS 2 param] Port name to receive NMEA data, defaults to 9001.

• port_enu (int) – [ROS 2 param] Port name to receive ENU data, defaults to 9002.

timer_callback()

Callback function called to receive each RTK GPS trame. We will receive the NMEA data, then the ENU data, if the connection is not lost. If the data is not empty, we’ll identify the useful data, retrieve them and publish them in a topic.

Returns:

None

connect_wifi_nmea()

Function for reconnecting via the NMEA port in Wi-Fi.

Returns:

None

connect_wifi_enu()

Function for reconnecting via the ENU port in Wi-Fi.

Returns:

None

extraction_donnees_gps_nmea(raw_d)

Extracts the desired data from the raw data received via the NMEA port.

Parameters:

raw_d (str) – Raw data received via the NMEA port.

Returns:

bool

extraction_donnees_gps_enu(raw_d)

Extracts the desired data from the raw data received via the ENU port.

Parameters:

raw_d – Raw data received via the ENU port.

Returns:

bool

gps_rtk_pckg.gps_talker_wifi.main(args=None)

ROS 2 node main.