Read Mobile GPs in Ros (Indigo) for robotic positioning ~GPS2BT use in Ubuntu and window systems ~

Read Mobile GPs in Ros (Indigo) for robotic positioning ~GPS2BT use in Ubuntu and window systems ~

There is no need to purchase additional GPS devices.

Mobile phone GPS data transmitted to the computer via Bluetooth, of course, through a similar method can also use the phone's three-axis gyroscope and accelerometer.

Android Phone:

Install APK:GPS2BT.

1.

2.

3.

Ubuntu 14.04 LTS:

1. Install the Bluetooth software. BlueZ

Once installed, you will be able to pair your computer and your phone via Bluetooth.

can also let the computer through the mobile phone Bluetooth Internet.

Anyway, add GPs.

2. Add Bluetooth GPS.

~$ hcitool Scan
Scanning ...
00:9a:cd:cf:7d:38ale-ul00

~$ Sdptool Browse 00:9a:cd:cf:7d:38
Service NAME:GPS2BT2
Service rechandle:0x1000c
Service Class ID List:
"Serial Port" (0x1101)
Protocol Descriptor List:
"L2cap" (0x0100)
"RFCOMM" (0x0003)
Channel:5

~$ sudo gedit/etc/bluetooth/rfcomm.conf
# RFCOMM configuration file.
#
#rfcomm0 {
# # automatically bind the device at startup
# bind yes;
#
# # Bluetooth address of the device
# device 00:9a:cd:cf:7d:38;
#
# # RFCOMM channel for the connection
# Channel 5;
#
# # Description of the connection
# Comment "Example Bluetooth GPS Device";
#}

Restart, you can start the GPS2BT2 in the Bluetooth configuration.

3. Use the Serial debugging tool to view GPS data.

4. View GPS data in Ros.

The following feature packs need to be installed:

~$ sudo apt-get install ros-indigo-nmea-*

After the installation is complete, the following command is required to start the Roscore:

~$  rosrun nmea_navsat_driver nmea_serial_driver _port:=/dev/rfcomm0 _baud:=115200

~$  rostopic Echo/fix

~$  rosrun nmea_navsat_driver nmea_topic_serial_reader _port:=/dev/rfcomm0 _baud:=115200

~$ Rostopic echo/nmea_sentence

Windows:

1. Enable SPP in the Bluetooth configuration.

2. Test GPS, choose Google Earth.

The port was updated to COM43 (formerly COM42) due to a connection error, reconnection.

~end~

Read Mobile GPs in Ros (Indigo) for robotic positioning ~GPS2BT use in Ubuntu and window systems ~