Gps
[Components, Stand-Alone Components, IceBox Services, C++, Linux]

A hardware abstraction component for GPS receivers. More...

A hardware abstraction component for GPS receivers.

Provides

• orca_interface_home
• orca_interface_gps [Gps.Provides.Gps]
• orca_interface_status

Requires

• none

Drivers

This component dynamically loads an implementation of a Hydro hardware interface hydrointerfaces::Gps. You can also load your own implementation as long as the shared library is in the path. See Hydro documentation for the list of available drivers.

• Gps drivers

Operation

This component encapsulates access to a GPS receiver.

It can run either as a stand-alone component or an IceBox Service.

Features

• When subscribed to component, position will only be received if the GPS receiver has a fix.
• When requesting position, the user should check that the timestamp is not out of date as the last known position will always be returned iresepective of the GPS receiver currently having a valid fix.
• an orca::DataNotExistException will be thrown if getData() etc. is called without a fix ever having been achieved.

Configuration

• Gps.Config.DriverLib (string)
  • Name of shared library containing the hardware driver
  • Valid values are at least: { 'libHydroGpsGarmin.so', 'libHydroGpsFake.so' }
  • Default: "libHydroGpsGarmin.so"

• Gps.Config.ReportIfNoFix (bool)
  • Report values if there is no GPS fix?
    • 0: GPS doesn't provide any data when there is no fix
    • 1: positionType is 0, all other values are bogus
  • Default: 1

Geometry

• Gps.Config.AntennaOffset (Frame3d) [m,m,m,deg,deg,deg]
  • Offset of the GPS antenna from the vehicle's coordinate system.
  • Format: x y z roll pitch yaw (space separated)
  • Default: [0.0 0.0 0.0 0.0 0.0 0.0]

An example configuration file is installed into [ORCA-INSTALL-DIR]/share/orca/cfg/ directory.

See also:

Individual drivers may have additional configuration parameters which are specified as Laser2d.Config.XXX. See driver documentation.

Authors

Duncan Mercer, Matthew Ridley, Tobias Kaupp