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GPS Sensor Broadcaster

Broadcaster of messages from GPS sensor. The published message type is sensor_msgs/msg/NavSatFix.

The controller is a wrapper around GPSSensor semantic component (see controller_interface package).

Parameters

This controller uses the generate_parameter_library to handle its parameters. The parameter definition file located in the src folder contains descriptions for all the parameters used by the controller.

List of parameters

sensor_name (string)

Defines sensor name used as prefix for its interfaces. Interface names are: <sensor_name>/orientation.x, ..., <sensor_name>/angular_velocity.x, ..., <sensor_name>/linear_acceleration.x.

Default: “”

Constraints:

parameter is not empty

frame_id (string)

Sensor’s frame_id in which values are published.

Default: “”

Constraints:

parameter is not empty

static_position_covariance (double_array)

Static position covariance.

Default: {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}

Constraints:

length must be equal to 9

read_covariance_from_interface (bool)

Read covariance from state interface

Default: false

An example parameter file

An example parameter file for this controller can be found in the test directory:

test_gps_sensor_broadcaster:
  ros__parameters:
    sensor_name: gps_sensor
    frame_id: gps_sensor_frame
    service: service_gps