README.md

driver_mt3339

Overview

This package includes driver software for the MT3339 GPS Receiver.

Keywords: mt3339 gps driver

License

The source code is released under a MIT license.

Author: Paul D'Angio
Maintainer: Paul D'Angio, [email protected]

The driver_mt3339 package has been tested under ROS Melodic and Ubuntu 18.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Installation

Building from Source

Dependencies

• Robot Operating System (ROS) (middleware for robotics)
• serial (ROS serial package)
• sensor_msgs_ext (ROS extended sensor messages)

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

    cd catkin_workspace/src
    git clone https://github.com/pcdangio/ros-driver_mt3339.git driver_mt3339
    cd ../
    catkin_make

Usage

Run the driver with the following command:

    rosrun driver_mt3339 driver_mt3339

Nodes

node

A driver for interacting with the MT3339 GPS. Enables configuration and reading of NMEA data.

Published Topics

• gnss/fix (sensor_msgs_ext/gnss_fix)

    The status of the sensor's GNSS fix.
  

• gnss/position (sensor_msgs_ext/gnss_position)

    The current GNSS position. Only published while a fix is available.
  

• gnss/track (sensor_msgs_ext/gnss_track)

    The current GNSS track. Only published while a fix is available.
  

• gnss/time (sensor_msgs_ext/time_reference)

    The current UTC time measured by the sensor. Only published while a fix is available.
  

Parameters

• ~/serial_port (string, default: /dev/ttyAMA0)

    The serial port connected to the sensor.
  

• ~/baud_rate (uint32, default: 38400)

    The baud rate to use for serial communication with the sensor.
  

• ~/connection_settle_time (uint32, default: 300)

    The number of milliseconds to wait after opening the serial port and test connectivity to the sensor.
  

• ~/timeout (uint32, default: 300)

    The number of milliseconds to wait for message responses from the sensor.
  

• ~/update_rate (uint32, default: 100)

    Changes the position update rate of the MT3339 GPS in milliseconds.
    The acceptable rates are between 100ms and 10,000ms.
    Position fixes are output once every period specified, so 100ms = 10Hz.
  

• ~/frame_id (string, default: mt3339)

    The name of the coordinate frame that the sensor is located in.
  

• ~/uere (double, default: 6.74)

    The User Equivalent Range Error (UERE) representing the total pseudorange error budget.  This is typically 6.74 for C/A, and 6.0 for P(Y).
  

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.