igps's Introduction

GPS MOOS-Driver (iGPS)

This is a simple driver for a serial GPS module. It is provided as an example and a starting point for MOOS-Drivers developers.

Usage:

iGPS config.moos

The configuration file must contain:

ProcessConfig = iGPS
{
   AppTick   	= 4
   CommsTick 	= 4

   PORT  		= /dev/ttyUSB0 // serial port number where the GPS is plugged in
   BAUDRATE 	= 4800 // the baudrate to use
   MAX_RETRIES 	= 5 // max retries before failure
   PUBLISHRAW 	= true // plushing raw data from the GPS

   // Coordinates of the origin required for MOOS-geodesy
   LatOrigin    = 44.095738
   LongOrigin   = 9.865190
}

An example is provided in the src folder.

Installation:

Download the source:

First clone the repository locally:

git clone https://github.com/MOOS-Drivers/iGPS

Compile it:

Then change to the recently created directory:

cd iGPS

And launch the build script:

./build.sh

Install it:

You can now either install it permanently on your system:

sudo make install

Or add the recently generated binary folder to your path:

export PATH=$PATH:$PWD/bin

Test it:

A test script is provided in bin/launch_test_iGPS.sh.

Dependencies

Please make sure that moos-ivp is already compiled and installed.

A cmake is also required.

Structure of the project

├── bin 
│   ├── clean_test_iGPS.sh
│   ├── launch_test_iGPS.sh
│   └── meta_test.moos
├── build.sh 
├── CMakeLists.txt
├── LICENSE
├── README.md
└── src 
    ├── CMakeLists.txt
    ├── GPS.cpp
    ├── GPS.h
    ├── GPS_Info.cpp
    ├── GPS_Info.h
    ├── iGPS.moos
    └── main.cpp

The bin folder contains the tests scripts (and the binaries).

The src folder contains the source of the project.

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igps's Issues

GPS messages are getting truncated when reading from the serial port

GPS messages are getting truncated when reading from the serial port.

This issue is the read from the serial port is timing out before the entire message is received. This may be due to running on a Raspberry Pi or older CPUs and a slow baud rate (4800bps)

See MOOS-drivers/iGPS/src/GPS.cpp, line 177:

if (!m_Port.GetTelegram(sMessage,0.5))
{
  return false;
}

Increasing this time to a few seconds fixed our issue. However, ideally this timeout value would be something configurable from the MOOS config block.

Unable to install

Attempted to run sudo make install which said make: *** No rule to make target 'install'. Stop.

Attempting to export the path using export PATH=$PATH:$PWD/bin appears to export the path, but I am unable to run the code in the terminal as iGPS. Furthermore, when I attempt to run the test (after modifying the meta_test.moos file), it is unable to find the GPS. What else can I do to get this to run/what has to be fixed? Thank you!

PS: I installed

MOOS-IvP (tested and runs)
libplib-dev
CMake

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