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GPS

Global Positioning System (GPS)

• GPS is used in "navigation challenge"
• Our robot uses GARMIN GPS unit.
  • The GPS can be connected to computer via serial or USB/serial convertor.
• GPS signal is received by "player server" (or "gpsd").

 The player configure file:
 driver
 (

name "garminnmea"

  provides ["gps:0"]
  port "/dev/ttyUSB0"
 )

• Using the following program, the location data are displayed.

 #include <iostream>
 #include <libplayerc++/playerc++.h>

 int
 main(int argc, char *argv[])
 {

using namespace PlayerCc;

  PlayerClient    robot("localhost");
  GpsProxy gp(&robot,0);

  for(;;)
  {
    // read from the proxies
    robot.Read();

    // print out GPS data
    std::cout << gp << std::endl;
  }
 }

• Here are the data showing the latitude&longitude. (I'm using "Garmin etrex" receiver at this time.)

 #GPS (13:0)
 #lat|long|alt|utm_e|utm_n|err_horz|err_vert|num_sats
 42.6514 -71.3306 44.9 308966 4.72474e+06 7900 6599 7

 #GPS (13:0)
 #lat|long|alt|utm_e|utm_n|err_horz|err_vert|num_sats
 42.6514 -71.3306 44.9 308966 4.72474e+06 9599 6599 7

 #GPS (13:0)
 #lat|long|alt|utm_e|utm_n|err_horz|err_vert|num_sats
 42.6514 -71.3306 44.9 308966 4.72474e+06 9599 6599 7