This is a wrapper driver for the Hemisphere ssV-102 GPS. This device has two
GPS antennas, which allows it to calculate the heading. The driver utilizes
the nmea_navsat_driver
for parsing GGA sentences.
port
: the port which the ssV-102 is connected tobaudrate
: baud rate of the devicejascs
: dictionary of the message type and the ratepublish_tf
: whether to publish tf transformsgps_origin_frame
: only for tf. frame id for the GPS origingps_antenna_frame
: frame id for the antennagps_required_quality
: required data quality to publish tfgps_src_epsg
: EPSG of the GGA sentence (should be fine with 4326)gps_tgt_epsg
: target EPSG for projecting llh to xyz
None
nmea_sentence
: used bynmea_navsat_driver
Published by nmea_navsat_driver
:
fix
vel
time_reference
heading
: ros-drivers/nmea_navsat_driver#25
See the nmea_navsat_driver
wiki page for more details on the topics.
MIT License
Naoki Mizuno