with file: gpsd_client/src/client.cpp : I get compile

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gpsd 3.20 breaks gpsd_client about gps_umd HOT 5 CLOSED

swri-robotics commented on July 17, 2024

gpsd 3.20 breaks gpsd_client

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Comments (5)

shr-project commented on July 17, 2024 1

The remaining issue to support 3.20 is the timespec_t support from gpsd commit:
https://gitlab.com/gpsd/gpsd/-/commit/1d4a09541a18c453c5586e6f57d3eb5fec9526ed#fbec23e759c01a5d296e7d1e3a17e9b131df6ae4

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lukehutch commented on July 17, 2024

I'm running into this too. The epe field was removed even in gpsd 3.19. From /usr/include/gps.h:

 * 8.0 - Change shape of rawdata_t.
 *       Remove epe from gps_data_t, it duplicates gps_fix_t eph
 *       Added sep (estimated spherical error, 3D)
 *       Note: Some GPS call eph as epe, others call sep as epe
 *       Add gps_fix_t datum string, and qErr

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lukehutch commented on July 17, 2024

See #26 for a patch for the epe issue so that gps_umd builds against gpsd-3.19, based purely on the documentation in /usr/include/gps.h.

The other two issues must occur between 3.19 and 3.20. I haven't tried getting this working with 3.20 yet.

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lights0123 commented on July 17, 2024

I'm working on a proprietary fork and don't have the time to merge our changes with this, but I can contribute my fix to this specific issue.

#if GPSD_API_MAJOR_VERSION >= 9
      if (!p->online.tv_sec && !p->online.tv_nsec) {
#else
      if (!p->online) {
#endif
          return;        
      }

#if GPSD_API_MAJOR_VERSION >= 9
        fix.time = (double)(p->fix.time.tv_sec) + (double)(p->fix.time.tv_nsec) / 1000000.;
#else
        fix.time = p->fix.time;
#endif

#if GPSD_API_MAJOR_VERSION >= 9
      if (use_gps_time && (p->online.tv_sec || p->online.tv_nsec))
        fix->header.stamp = ros::Time(p->fix.time.tv_sec, p->fix.time.tv_nsec);
#else
      if (use_gps_time && !std::isnan(p->fix.time))
        fix->header.stamp = ros::Time(p->fix.time);
#endif
      else
        fix->header.stamp = ros::Time::now();

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