Gps with mapviz

CMakeLists.txt

@@ -251,4 +251,10 @@ endif ()
 install_launch_macro()
 if (COMMAND additional_install_macro)
     additional_install_macro()
-endif ()
+endif ()
+
+# Install Python scripts I ADDED THIS (TEST)
+catkin_install_python(PROGRAMS
+  src/nav/gps.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

requirements.txt

@@ -0,0 +1 @@
+adafruit-circuitpython-gps

src/nav/README.md

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+## NAVIGATIONAL SYSTEMS GUIDE
+
+This guide will explain the step-by-step process on how to activate the rover's GPS and IMU, setup a mapproxy docker container to acquire and cache map tiles from Google Maps, and display his data through ROS's MapViz program.
+
+NOTE: Remember to start an roscore instance and source the catkin workspace's devel/setup.bash file prior to inputting these commands.
+
+## STEP #1: Starting up the GPS and IMU
+
+    cd ~/catkin_ws
+    rosrun uvic_rover gps.py
+
+FURTHER INSTRUCTIONS TO BE ADDED
+
+## STEP #2: Creating the Mapproxy Docker Container
+
+    sudo docker run -p 8080:8080 -d -t -v ~/mapproxy:/mapproxy danielsnider/mapproxy
+
+OPTIONAL: To verify that the docker container was successfully created, use the following to list all running containers.
+
+    sudo docker ps
+
+## STEP #3: Opening MapViz
+
+    roslaunch mapviz mapviz.launch
+
+

src/nav/gps.py

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+#!/usr/bin/env python
+
+# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
+# SPDX-License-Identifier: MIT
+
+# Simple GPS module demonstration.
+# Will wait for a fix and print a message every second with the current location
+# and other details.
+import time
+import adafruit_gps
+import rospy
+from sensor_msgs.msg import NavSatFix
+from gps_common.msg import GPSFix
+# Create a serial connection for the GPS connection using default speed and
+# a slightly higher timeout (GPS modules typically update once a second).
+# These are the defaults you should use for the GPS FeatherWing.
+# For other boards set RX = GPS module TX, and TX = GPS module RX pins.
+#uart = busio.UART(board.TX, board.RX, baudrate=9600, timeout=10)
+
+# for a computer, use the pyserial library for uart access
+
+import serial
+def main():
+    uart = serial.Serial("/dev/ttyUSB0", baudrate=9600, timeout=10)
+    # Initialize GPS Ros node 
+    rospy.init_node('gps_talker')
+
+    navsatfix_pub = rospy.Publisher('GPS_NavSatFix', NavSatFix, queue_size=10)    
+    navsatfix_msg = NavSatFix()
+    navsatfix_msg.header.frame_id = "/map1" #used to be /map
+
+    common_pub = rospy.Publisher('GPS_Common', GPSFix, queue_size=10) 
+    common_msg = GPSFix()
+    common_msg.header.frame_id = "/map2"
+
+    rate = rospy.Rate(1)
+    # Create a GPS module instance.
+    gps = adafruit_gps.GPS(uart, debug=False)  # Use UART/pyserial
+    # gps = adafruit_gps.GPS_GtopI2C(i2c, debug=False)  # Use I2C interface
+
+    # Initialize the GPS module by changing what data it sends and at what rate.
+    # These are NMEA extensions for PMTK_314_SET_NMEA_OUTPUT and
+    # PMTK_220_SET_NMEA_UPDATERATE but you can send anything from here to adjust
+    # the GPS module behavior:
+    #   https://cdn-shop.adafruit.com/datasheets/PMTK_A11.pdf
+
+    # Turn on the basic GGA and RMC info (what you typically want)
+    gps.send_command(b"PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0")
+    # Turn on just minimum info (RMC only, location):
+    # gps.send_command(b'PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0')
+    # Turn off everything:
+    # gps.send_command(b'PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0')
+    # Turn on everything (not all of it is parsed!)
+    # gps.send_command(b'PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0')
+
+    # Set update rate to once a second (1hz) which is what you typically want.
+    gps.send_command(b"PMTK220,1000")
+    # Or decrease to once every two seconds by doubling the millisecond value.
+    # Be sure to also increase your UART timeout above!
+    # gps.send_command(b'PMTK220,2000')
+    # You can also speed up the rate, but don't go too fast or else you can lose
+    # data during parsing.  This would be twice a second (2hz, 500ms delay):
+    # gps.send_command(b'PMTK220,500')
+
+    # Main loop runs forever printing the location, etc. every second.
+    last_print = time.monotonic()
+    while not rospy.is_shutdown():
+        # Make sure to call gps.update() every loop iteration and at least twice
+        # as fast as data comes from the GPS unit (usually every second).
+        # This returns a bool that's true if it parsed new data (you can ignore it
+        # though if you don't care and instead look at the has_fix property).
+        gps.update()
+        # Every second print out current location details if there's a fix.
+        current = time.monotonic()
+        if current - last_print >= 1.0:
+            last_print = current
+            if not gps.has_fix:
+                # Try again if we don't have a fix yet.
+                print("Waiting for fix...")
+                continue
+            # We have a fix! (gps.has_fix is true)
+
+            # Put gps data into navstat
+            navsatfix_msg.latitude = gps.latitude
+            navsatfix_msg.longitude = gps.longitude
+            navsatfix_msg.altitude = gps.altitude_m
+            navsatfix_msg.status.status = 1
+            navsatfix_msg.status.service = 1
+
+            common_msg.latitude = gps.latitude
+            common_msg.longitude = gps.longitude
+            common_msg.altitude = gps.altitude_m
+            common_msg.status.status = 1
+
+            navsatfix_pub.publish(navsatfix_msg)
+            common_pub.publish(common_msg)
+
+            # Print out details about the fix like location, date, etc.
+            print("=" * 40)  # Print a separator line.           
+            print(
+            "Fix UTC timestamp: {}/{}/{} {:02}:{:02}:{:02}".format(
+            gps.timestamp_utc.tm_mon,  # Grab parts of the time from the
+            gps.timestamp_utc.tm_mday,  # struct_time object that holds
+            gps.timestamp_utc.tm_year,  # the fix time.  Note you might
+            gps.timestamp_utc.tm_hour,  # not get all data like year, day,
+            gps.timestamp_utc.tm_min,  # month!
+            gps.timestamp_utc.tm_sec,
+                )
+            )
+            print("Latitude: {0:.6f} degrees".format(gps.latitude))
+            print("Longitude: {0:.6f} degrees".format(gps.longitude))
+            print(
+                "Precise Latitude: {:2.0f}{:2.4f} degrees".format(
+                    gps.latitude_degrees, gps.latitude_minutes
+                )
+            )
+            print(
+                "Precise Longitude: {:2.0f}{:2.4f} degrees".format(
+                    gps.longitude_degrees, gps.longitude_minutes
+                )
+            )
+            # print("Fix quality: {}".format(gps.fix_quality))
+            # # Some attributes beyond latitude, longitude and timestamp are optional
+            # # and might not be present.  Check if they're None before trying to use!
+            # if gps.satellites is not None:
+            #     print("# satellites: {}".format(gps.satellites))
+            # if gps.altitude_m is not None:
+            #     print("Altitude: {} meters".format(gps.altitude_m))
+            # if gps.speed_knots is not None:
+            #     print("Speed: {} knots".format(gps.speed_knots))
+            # if gps.track_angle_deg is not None:
+            #     print("Track angle: {} degrees".format(gps.track_angle_deg))
+            # if gps.horizontal_dilution is not None:
+            #     print("Horizontal dilution: {}".format(gps.horizontal_dilution))
+            # if gps.height_geoid is not None:
+            #     print("Height geoid: {} meters".format(gps.height_geoid))
+
+if __name__ == "__main__":
+    try:
+        main()
+    except rospy.ROSInterruptException:
+        pass