ROS2与传感器教程-整合wheeltec_gps

说明

• 介绍如何整合wheeltec_gps

步骤

• 利用rcm安装驱动

#安装rcm
curl https://www.ncnynl.com/rcm.sh | bash -
#安装install_wheeltec_gps_ros2
rcm -s install_wheeltec_gps_ros2

• 默认源码安装在ros2_sensor_ws工作空间下

测试

• 启动GPS

source ~/.bashrc
ros2 launch wheeltec_gps_path gps_path.launch.py

• 效果：

---
header:
  stamp:
    sec: 1733909324
    nanosec: 179874999
  frame_id: gps
status:
  status: 0
  service: 1
latitude: 23.065048666666666
longitude: 113.05537516666666
altitude: 52.800000000000004
position_covariance:
- 243.35999999999999
- 0.0
- 0.0
- 0.0
- 243.35999999999999
- 0.0
- 0.0
- 0.0
- 3893.7599999999998
position_covariance_type: 1

• 正常获取经度纬度和高度

latitude: 23.0650485   #维度
longitude: 113.055375  #经度
altitude: 52.6         #海波高度