ssV-102 Driver

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.

Dependencies

• python-gdal
• python-serial

Recommended

• nmea_navsat_driver

Parameters

• port: the port which the ssV-102 is connected to
• baudrate: baud rate of the device
• jascs: dictionary of the message type and the rate
• publish_tf: whether to publish tf transforms
• gps_origin_frame: only for tf. frame id for the GPS origin
• gps_antenna_frame: frame id for the antenna
• gps_required_quality: required data quality to publish tf
• gps_src_epsg: EPSG of the GGA sentence (should be fine with 4326)
• gps_tgt_epsg: target EPSG for projecting llh to xyz

Subscribed topics

None

Published topics

• nmea_sentence: used by nmea_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.

License

MIT License

Author

Naoki Mizuno