ros_ais

Author: Enrico Schuetz

Software License Agreement (BSD License)

Description: ROS driver for the (Automatic Identification System)

• CLASS A AIS POSITION REPORT (MESSAGES 1, 2, AND 3)
• AIS BASE STATION REPORT (MESSAGE 4) AND COORDINATED UNIVERSAL TIME AND DATE RESPONSE (MESSAGE 11)
• MESSAGE 8 DAC 200 . geometry report

1. tested ROS distribution

• ROS Noetic Ninjemys (Ubuntu 20.04)

2. Dependencies

• Python 3
• AIS receiver
• pyserial
• libais

3. Installation

pyserial must be installed if it is not on the computer.

$ pip install pyserial

install libais for import ais

git clone https://github.com/schwehr/libais.git
cd libais
python3 setup.py build
python3 setup.py install

create ros package

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/ecschuetz/ros_ais.git
cd ..
catkin_make
source devel/setup.bash

4. launch ais

edit launch file launch/ais.launch for correct serial port and baudrate

roslaunch ros_ais ros_daisy.py

alternatively change it from commandline

roslaunch ros_ais ros_daisy.py serial_port:=/dev/ttyACM0 baudrate:=38400  # default

5. mentioned reports

in msg/ros_AIS123.msg your can find the class A AIS Position Report Messages, as defined in libais. You can see all available Messages in the picture. For more information, see https://gpsd.gitlab.io/gpsd/AIVDM.html and https://github.com/schwehr/libais/blob/master/src/libais/ais1_2_3.cpp

in msg/ros_AIS4_11.msg you can find the class A AIS Base Station Report, see.