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emlid_gps.launch
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emlid_gps.launch
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<?xml version="1.0"?>
<launch>
<arg name="port" default="/dev/ttyACM1"/>
<arg name="baud" default="4800"/>
<arg name="frame_id" default="gps" />
<arg name="gps_topic_name" default="/gps/fix"/>
<arg name="node_name" default="reach_gps"/>
<!-- XXX: For tcp postion output -->
<!-- BIG ONE (REACH RS+) CORRECTION COMES IN AT 192.168.1.241:9001 -->
<!-- SMALL ONE (REACH M+) CORRECTION COMES IN AT 192.168.1.242:9009 or ***.0.76-->
<!-- <node pkg="reach_ros_node" type="nmea_tcp_driver" name="reach_gps">
<param name="~host" value="192.168.1.247" />
<param name="~port" value="9009" />
<remap from="/tcpfix" to="/gps/fix"/>
</node> -->
<!-- XXX: For serial position ouput -->
<!-- XXX: EMLID REACH BROSWER APPLICATION WILL DISPLAY INCORRECT /DEV/TTY NAME -->
<!-- XXX: use $'dmesg <double dash>follow ...then uplug/replug usb device to determine tty name -->
<!-- XXX: building nmea_navsat_driver from source for removing automatic prefixing of forward slash to frame id -->
<node pkg="nmea_navsat_driver" type="nmea_serial_driver" name="$(arg node_name)" >
<param name="port" value="$(arg port)" />
<param name="baud" value="$(arg baud)" />
<param name="frame_id" value="$(arg frame_id)" />
<remap from="/fix" to="$(arg gps_topic_name)" />
</node>
<!-- inlcude file paste
### Emlid Reach (GPS building nmea_navsat_driver from source)
<include file="$(find agbot_0)/launch/include/emlid_gps.launch">
<arg name="tcp_host" default="rover3_reach" />
<arg name="tcp_port" default="9009" />
<arg name="port" default="/dev/ttyACM1"/>
<arg name="baud" default="4800"/>
<arg name="gps_topic_name" default="/gps/fix"/>
</include>
-->
</launch>