This project provides a cross-platform interface for the Novatel OEM4 and OEMV series of GPS receivers. The Novatel SPAN system is also supported.
cd ~/yuhs_ws catkin_make -DCATKIN_WHITELIST_PACKAGES="novatel" source ~/novatel_ws/devel/setup.bash roslaunch novatel novatel.launch
cd ~/catkin_ws catkin_make roslaunch novatel novatel.launch
2018-03-28 15:11:58 [author]scott yu,[log]init proj for huituo 2018-03-31 11:59:06 [author]scott yu,[log]增加了调试模式和正常工作模式的区分代码 2018-04-08 17:50:12 [author]scott yu,[log]增加设备设置自动化功能，设备利用launch里边的配置命令进行配置，可以进行轨迹采集，不需要经过.gps文件即可完成
2018-03-31 15:06:46 src/下的 A包找不到依赖的b包 一个工作空间中的A包需要使用B中的数据，需要在A包中的package.xml中编译和运行要对B包进行相关依赖 同时需要将B包的名字写到A包的cmakelists.txt中下面两个地方，比如A包是novatel，B包是gps-msgs find_package(catkin COMPONENTS serial roslib roscpp rosconsole tf gps_msgs sensor_msgs nav_msgs) catkin_package( INCLUDE_DIRS include LIBRARIES novatel CATKIN_DEPENDS serial roslib roscpp rosconsole tf gps_msgs nav_msgs sensor_msgs DEPENDS Boost ) 如果是系统自带的package，是直接可以findpackage找到的，不是系统环境变量中的，需要这么操作
设置 launch/novatel.launch里边的
的路径信息，即可完成采集相应的轨迹数据 1，track_file_output_path_only_xy，采集的轨迹数据是 序号 x y 2，track_file_output_path_only_xy，采集的轨迹数据是 序号 x y heading将cmakelist中的这句话add_executable(novatel_read_from_file examples/novatel_read_from_file.cpp)的注释放开
cd ~/novatel_ws/devel/lib/novatel/ //可以从tower获取我们的测试时候采集的.gps数据 如有疑问 请联系作者 cpy xxx.gps novatel_ws/devel/lib/novatel/ ./novatel_read_from_file xxx.gps
问题：ssh connection refused 解决：在工控机上运行 sudo apt-get -purge remove openssh-server sudo apt-get install openssh-server 然后重启 ssh服务 sudo /etc/init.d/ssh restart
sudo minicom ctrl-a o 设置 ctrl-a z e 打开下发命令回显,下发的命令即可显示出来，然后回车即可 ctrl-a q 退出
如果下面不停的上传命令，下发方法 中键拷贝命令然后迅速回车即可
cli串口助手 minicom gui com助手 gtkterm cutecom moni
- inspva数据上来经纬度为0，但是bestpos数据有
用window下的novatel软件进行配置组合惯导信息 1、获取组合惯导配置手册《novatel组合惯导配置手册.docx》如果找不到 请联系 hongsong.yu 2、获取imu在车上的姿态，imu是fsas型号，手册中有imu的方位信息 3、imu的朝向和车体方向的关系请参照手册中的信息 4、打开win下的软件，工具栏有个wizard，打开里边的span aliament即可进行设置 5、设置完成后，会弹出一个界面，显示组合惯导数据，这个里边没有数据 6、要查看数据，还是通过inspvaa的命令在串口终端查看，会发现数据上来了
- 串口助手没有数据上来 排查方法 1、
get the Authentication of comm to usb sudo vim /etc/udev/rules.d/70-tty.rules KERNEL=="ttyUSB[0-9]",MODE=="0666" KERNEL=="ttyS[0-9]",MODE=="0666"
gps主天线(ant1，车行驶方向前面的那个)相对于imu的偏移量
x:0.95 y:0.70 z：1.62
- 不区分大消息
- 那个命令里边 有的是 log psrposa ontime 1 有的是 log psrposb ontime 1
- psrpos+a 或者+b 代表：一个ascall一个16进制
- 如下示例所示：
- log命令a和B的格式分别如下：
- a:输出的是#BEST****打头的字符串数据
- b:以0xaa 0x44 0x12打头的二进制数据，跟我们软件保存的.gps格式的二进制数据是一致的
log version //查看版本 com com1 115200 //设置com1 波特率 log bestposa ontime 1 //设置bestposa数据的更新频率为1hz log bestposa ontime 0.1 //设置更新频率为10hz log comconfig //打印所有com口配置信息 freset //恢复出厂设置 log loglist //查看输出配置
freset com com2 115200 n 8 1 n off on interfacemode com2 rtca none off serialconfig com1 115200 log com1 inspvab ontime 0.1 log com1 imuratepvab onnew log insposb ontime 1 saveconfig
com com2 115200 n 8 1 n off on interfacemode com2 rtca none off log inspvaa ontime 1 log inspvab ontime 1 log version unlogall log inspvaxa ontime 1 log bestposa ontime 1
#####命令集合详细解释 freset 恢复到出厂设置 com com2 115200 n 8 1 n off n com2口是rtk电台数据到移动站的数据串口，需要配置这个口的参数 interfacemode com2 rtca none off 命令语法格式：INTERFACEMODE [port] rxtype txtype [responses] com2口接收的差分数据模式为rtca，发送模式为none，设置回显关闭 com com1 115200 log com1 inspvasb ontime 0.01 设置inspvas数据100hz输出 log com1 imuratepvab onnew 设置imu数据输出，需要先设置ASYNCHINSLOGGING ENABLE log insposb ontime 1 设置inspos的数据1hz输出 saveconfig 保存设置
要知道什么msg的id的内容，可以直接在《OEM7_Commands_Logs_Manual.pdf》文档中查询对应的id的描述
然后里边会有log的指令，
比如我找到Best available UTM data的msg id的内容
Message ID: 726
Log Type: Synch
Recommended Input:
log bestutma ontime 1
ASCII Example:
#BESTUTMA,COM1,0,73.0,FINESTEERING,1419,336209.000,02000040,eb16,2724;
SOL_COMPUTED,NARROW_INT,11,U,5666936.4417,707279.3875,1063.8401,-
16.2712,WGS84,0.0135,0.0084,0.0173,"AAAA",1.000,0.000,8,8,8,8,0,01,0,0
3*a6d06321
如上面内容所示，有:log bestutma ontime 1内容，这个命令就是让novatel惯导系统输出bestutm的信息
1代表数据更新周期，单位为sec
The serial and Novatel packages are both "wet" packages and require Catkin. To build the libraries, first create a Catkin workspace (you can skip this step if you are adding the packages to an existing workspace.)
mkdir -p ~/novatel_ws/src
cd ~/novatel_ws/src
catkin_init_workspace
wstool init ./
Next, add the Serial, GPS Messages, and Novatel packages to the workspace:
wstool set serial --git [email protected]:wjwwood/serial.git
wstool set novatel --git [email protected]:GAVLab/novatel.git
wstool set gps_msgs --git [email protected]:GAVLab/gps_msgs.git
wstool update
Finally, build the packages:
cd ../
catkin_make
Although Catkin is the preferred build method, both packages can be installed without Catkin. An older version of the serial library can be installed using the instructions below:
git clone git://github.com/wjwwood/serial.git
cd serial
git checkout fuerte
make
sudo make install
Next, the Novatel library can be installed by:
git clone [email protected]:GAVLab/novatel.git
cd novatel
make
sudo make install
The above commands will build and install the Novatel static library. To also build an example program for testing the interface:
cd build
cmake ../ -DNOVATEL_BUILD_EXAMPLES=ON
make
To build the optional Novatel tests:
cd build
cmake ../ -DNOVATEL_BUILD_TESTS=ON
make
The BSD License
Copyright (c) 2018
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
Scott Yu [email protected]
driver for novatel oem6