pros_gps

This repository is designed to interface with the BU-353N5 USB GPS device and generate maps for user applications. It provides tools to set up and run a GPS node using ROS2, facilitating easy integration and data acquisition.

Overview

• Device: BU-353N5
• Purpose: Capture GPS data ans create maps within a ROS2 framework.

Prerequisites

• Linux System
• screamlab/tools cloned locally (for udev rule generation)

Setup environment

To ensure consistent device recognition, we'll create a persistent symbolic link (/dev/usb_gps) to the GPS device using rules.

1. Identify the GPS Device Name

   Plug in your BU-353N5 GPS device and determine its device name:

   ls /dev/ttyUSB*
   

   Look for a device like /dev/ttyUSB0. This is your GPS device.

2. Obtain idVendor and idProduct

   Navigate to the screamlab/tools directory:

   cd /path/to/screamlab/tools
   

   Run the extract_usb_info.sh script with your device name:

   ./extract_usb_info.sh /dev/ttyUSB0
   # Replace /dev/ttyUSB0 with your actual device name if different
   

   The script will output:

   idVendor: 067b
   idProduct: 23a3
   

3. Create a Udev Rule

   We'll create a udev rule to assign a consistent name to your GPS device.

   Option A: Manually Create the Udev Rule

   1. Create a new udev rule file:

      sudo nano /etc/udev/rules.d/99-usb_gps.rules
      

   2. Add the following line, replacing 067b and 23a3 with your actual values if they differ:

      SUBSYSTEM=="tty", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="23a3", SYMLINK+="usb_gps", MODE="0666"
      

   3. Save and close the file.

   Option B: Use device_rule_generate.sh

   1. Write the udev rule into device_rule_generate.sh with your actual values if they differ:

      SUBSYSTEM=="tty", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="23a3", SYMLINK+="usb_gps", MODE="0666"
      

   2. Run it:

      sudo ./device_rule_generate.sh
      

Get gps informatation

To set up and run the GPS node within ROS2, execute the following script:

./run.sh

This script will:

• Initialize the ROS2 environment.
• Launch the GPS node that reads data from /dev/usb_gps.
• Publish GPS data to the appropriate ROS2 topics.

Troubleshooting

• Device Not Recognized:
  • Re-run ls /dev/ttyUSB* to check if the device is detected.
  • Double-check the idVendor and idProduct values.