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gpsd struct no longer has an `epe` field
After updating gpsd recently, I got the following compile error in gps_umd/gpsd_client:
/home/luke/catkin_ws/src/gps_umd/gpsd_client/src/client.cpp: In member function ‘void GPSDClient::process_data_gps(gps_data_t*)’:
/home/luke/catkin_ws/src/gps_umd/gpsd_client/src/client.cpp:178:22: error: ‘struct gps_data_t’ has no member named ‘epe’
178 | fix.err = p->epe;
| ^~~
Version: Fedora gpsd-devel-3.19-2.fc31.x86_64
looking for a readme to guide how to use it
Cannot locate node of type [gps_conversions/gps_to_utm]
Hello everyone
I am trying to launch kitware, and I need to install gps-common. when I wan to make the Package I face an error:
ERROR: cannot launch node of type [gps_conversions/gps_to_utm]: Cannot locate node of type [gps_to_utm_node] in package [gps_conversions]. Make sure file exists in package path and permission is set to executable (chmod +x)
I am using Melodic ROS and I have installed gps common package from different sources like:
sudo apt-get install ros-melodic-gps-common
https://github.com/ktossell/gps_umd.git
https://github.com/swri-robotics/gps_umd.git
and so on. But, I cannot solve the pro
blem.
Please help me to solve this issue
frame_id not set in header
In the published sensor_msgs/NavSatFix message the value of header.frame_id is not set. According to the documentation it should be set to the "frame of reference reported by the receiver, usually the location of the antenna"
Every fourth altitude value is NaN
When using gpsd_client with a u-blox GPS, every fourth altitude value is NaN. This does not happen when using cgps or other gpsd client:
header:
seq: 470
stamp:
secs: 1564341473
nsecs: 0
frame_id: "gps"
status:
status: 0
service: 1
latitude: 45.519741333
longitude: 6.6806945
altitude: nan
position_covariance: [30.376, 0.0, 0.0, 0.0, 65.352, 0.0, 0.0, 0.0, nan]
position_covariance_type: 2
---
header:
seq: 471
stamp:
secs: 1564341473
nsecs: 0
frame_id: "gps"
status:
status: 0
service: 1
latitude: 45.519741333
longitude: 6.6806945
altitude: 1699.1
position_covariance: [30.376, 0.0, 0.0, 0.0, 65.352, 0.0, 0.0, 0.0, 90.16]
position_covariance_type: 2
---
header:
seq: 472
stamp:
secs: 1564341473
nsecs: 0
frame_id: "gps"
status:
status: 0
service: 1
latitude: 45.519741333
longitude: 6.6806945
altitude: 1699.1
position_covariance: [30.376, 0.0, 0.0, 0.0, 65.352, 0.0, 0.0, 0.0, 90.16]
position_covariance_type: 2
---
header:
seq: 473
stamp:
secs: 1564341473
nsecs: 0
frame_id: "gps"
status:
status: 0
service: 1
latitude: 45.519741333
longitude: 6.6806945
altitude: 1699.1
position_covariance: [30.376, 0.0, 0.0, 0.0, 65.352, 0.0, 0.0, 0.0, 90.16]
position_covariance_type: 2
---
header:
seq: 474
stamp:
secs: 1564341474
nsecs: 0
frame_id: "gps"
status:
status: 0
service: 1
latitude: 45.5197375
longitude: 6.680697333
altitude: nan
position_covariance: [30.376, 0.0, 0.0, 0.0, 65.352, 0.0, 0.0, 0.0, nan]
position_covariance_type: 2
---
header:
seq: 475
stamp:
secs: 1564341474
nsecs: 0
frame_id: "gps"
status:
status: 0
service: 1
latitude: 45.5197375
longitude: 6.680697333
altitude: 1699.4
position_covariance: [30.376, 0.0, 0.0, 0.0, 65.352, 0.0, 0.0, 0.0, 90.16]
position_covariance_type: 2
---
header:
seq: 476
stamp:
secs: 1564341474
nsecs: 0
frame_id: "gps"
status:
status: 0
service: 1
latitude: 45.5197375
longitude: 6.680697333
altitude: 1699.4
position_covariance: [30.376, 0.0, 0.0, 0.0, 65.352, 0.0, 0.0, 0.0, 90.16]
position_covariance_type: 2
---
header:
seq: 477
stamp:
secs: 1564341474
nsecs: 0
frame_id: "gps"
status:
status: 0
service: 1
latitude: 45.5197375
longitude: 6.680697333
altitude: 1699.4
position_covariance: [30.376, 0.0, 0.0, 0.0, 65.352, 0.0, 0.0, 0.0, 90.16]
position_covariance_type: 2
---
header:
seq: 478
stamp:
secs: 1564341475
nsecs: 0
frame_id: "gps"
status:
status: 0
service: 1
latitude: 45.519722833
longitude: 6.680688167
altitude: nan
position_covariance: [47.192, 0.0, 0.0, 0.0, 100.386, 0.0, 0.0, 0.0, nan]
position_covariance_type: 2
---
header:
seq: 479
stamp:
secs: 1564341475
nsecs: 0
frame_id: "gps"
status:
status: 0
service: 1
latitude: 45.519722833
longitude: 6.680688167
altitude: 1699.7
position_covariance: [47.192, 0.0, 0.0, 0.0, 100.386, 0.0, 0.0, 0.0, 192.05]
position_covariance_type: 2
---
header:
seq: 480
stamp:
secs: 1564341475
nsecs: 0
frame_id: "gps"
status:
status: 0
service: 1
latitude: 45.519722833
longitude: 6.680688167
altitude: 1699.7
position_covariance: [47.192, 0.0, 0.0, 0.0, 100.386, 0.0, 0.0, 0.0, 192.05]
position_covariance_type: 2
---
header:
seq: 481
stamp:
secs: 1564341475
nsecs: 0
frame_id: "gps"
status:
status: 0
service: 1
latitude: 45.519722833
longitude: 6.680688167
altitude: 1699.7
position_covariance: [47.192, 0.0, 0.0, 0.0, 100.386, 0.0, 0.0, 0.0, 192.05]
position_covariance_type: 2
---
header:
seq: 482
stamp:
secs: 1564341476
nsecs: 0
frame_id: "gps"
status:
status: 0
service: 1
latitude: 45.519727
longitude: 6.680691833
altitude: nan
position_covariance: [47.192, 0.0, 0.0, 0.0, 100.386, 0.0, 0.0, 0.0, nan]
position_covariance_type: 2
---
header:
seq: 483
stamp:
secs: 1564341476
nsecs: 0
frame_id: "gps"
status:
status: 0
service: 1
latitude: 45.519727
longitude: 6.680691833
altitude: 1699.9
position_covariance: [47.192, 0.0, 0.0, 0.0, 100.386, 0.0, 0.0, 0.0, 192.51]
position_covariance_type: 2
---
header:
seq: 484
stamp:
secs: 1564341476
nsecs: 0
frame_id: "gps"
status:
status: 0
service: 1
latitude: 45.519727
longitude: 6.680691833
altitude: 1699.9
position_covariance: [47.192, 0.0, 0.0, 0.0, 100.386, 0.0, 0.0, 0.0, 192.51]
position_covariance_type: 2
---
header:
seq: 485
stamp:
secs: 1564341476
nsecs: 0
frame_id: "gps"
status:
status: 0
service: 1
latitude: 45.519727
longitude: 6.680691833
altitude: 1699.9
position_covariance: [47.192, 0.0, 0.0, 0.0, 100.386, 0.0, 0.0, 0.0, 192.51]
position_covariance_type: 2
---
header:
seq: 486
stamp:
secs: 1564341477
nsecs: 0
frame_id: "gps"
status:
status: 0
service: 1
latitude: 45.5197065
longitude: 6.6806865
altitude: nan
position_covariance: [47.192, 0.0, 0.0, 0.0, 100.386, 0.0, 0.0, 0.0, nan]
position_covariance_type: 2
Repository is out of date
This repository is out of date. It appears that the following is the authoritative repository:
Repeated messages from gpsd_client
I'm not sure if this is a result of my gpsd configuration or my gps units (u-blox 5 series), but I've been getting repeated (not identical) ROS messages published by gpsd_client with use_gps_time off:
$ rostopic echo /fix
---
header:
seq: 15
stamp:
secs: 1399540052
nsecs: 800140800
frame_id: ''
status:
status: 0
service: 1
latitude: 34.146363167
longitude: -118.137884833
altitude: 282.3
position_covariance: [10.58, 0.0, 0.0, 0.0, 17.533, 0.0, 0.0, 0.0, 32.785]
position_covariance_type: 2
---
header:
seq: 16
stamp:
secs: 1399540052
nsecs: 801611257
frame_id: ''
status:
status: 0
service: 1
latitude: 34.146361667
longitude: -118.137885833
altitude: 282.5
position_covariance: [10.58, 0.0, 0.0, 0.0, 17.533, 0.0, 0.0, 0.0, 32.785]
position_covariance_type: 2
---
header:
seq: 17
stamp:
secs: 1399540053
nsecs: 814012306
frame_id: ''
status:
status: 0
service: 1
latitude: 34.146361667
longitude: -118.137885833
altitude: 282.5
position_covariance: [10.58, 0.0, 0.0, 0.0, 17.533, 0.0, 0.0, 0.0, 32.785]
position_covariance_type: 2
---
header:
seq: 18
stamp:
secs: 1399540053
nsecs: 815928396
frame_id: ''
status:
status: 0
service: 1
latitude: 34.146360333
longitude: -118.137886833
altitude: 282.6
position_covariance: [10.58, 0.0, 0.0, 0.0, 17.533, 0.0, 0.0, 0.0, 32.785]
position_covariance_type: 2
---
As can be seen in the above, messages 15 and 16 are sent at almost the same time but have different lat,lon values, while 16 and 17 have the same lat,lon but are a second apart. The same goes for the extended fix.
I've tracked down the cause of this and it seems that libgps is receiving the full fix in two separate messages as can be seen using gpspipe:
$ gpspipe -w
{"class":"SKY","tag":"GSV","device":"/dev/ttyACM0","xdop":0.62,"ydop":0.65,"vdop":1.28,"tdop":0.71,"hdop":0.90,"gdop":1.72,"pdop":1.56,"satellites":[{"PRN":5,"el":7,"az":46,"ss":23,"used":true},{"PRN":15,"el":43,"az":99,"ss":29,"used":true},{"PRN":16,"el":18,"az":310,"ss":43,"used":true},{"PRN":18,"el":62,"az":235,"ss":34,"used":true},{"PRN":21,"el":60,"az":327,"ss":45,"used":true},{"PRN":22,"el":23,"az":231,"ss":0,"used":false},{"PRN":25,"el":9,"az":188,"ss":33,"used":true},{"PRN":26,"el":25,"az":61,"ss":31,"used":true},{"PRN":27,"el":0,"az":317,"ss":0,"used":false},{"PRN":29,"el":62,"az":136,"ss":37,"used":true},{"PRN":51,"el":49,"az":161,"ss":30,"used":false}]}
{"class":"TPV","tag":"GLL","device":"/dev/ttyACM0","mode":3,"time":"2014-05-08T08:51:11.000Z","ept":0.005,"lat":34.146406500,"lon":-118.137705667,"alt":270.300,"epx":9.292,"epy":9.817,"epv":29.402,"track":0.0000,"speed":0.030,"climb":0.000,"eps":19.63}
This results in two gps->read() calls in quick succession and therefore two calls to process_data and then publish. What should happen instead is that the first message (GSV) needs to be read but process_data not called, instead calling it on the second message (GLL). I've done a quick fix for this on my part with the following patch:
diff --git a/gpsd_client/src/client.cpp b/gpsd_client/src/client.cpp
index 06ecd18..54eb220 100644
--- a/gpsd_client/src/client.cpp
+++ b/gpsd_client/src/client.cpp
@@ -60,7 +60,11 @@ class GPSDClient {
#else
gps_data_t *p = gps->poll();
#endif
+ if(strcmp(p->tag,"GSV")==0) {
+ return;
+ }
process_data(p);
+
}
void stop() {
But since I don't have another GPS to test with, I'm not sure if this is a good solution to the problem (doubt it).
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