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<!DOCTYPE html>
<html lang="en">
<head>
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<meta charset="utf-8">
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<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
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<title>User Guide: GPS</title>
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<h1>User Guide: GPS</h1><hr />
<div>
<h2>Setup</h2>
<p>The GPS used was this model: <a href="https://www.ebay.co.uk/itm/Ublox-NEO-M8N-GPS-Compass-with-shell-for-PIX-PX4-Pixhawk-Flight-Controller-UK/252111344885?epid=1088850025&hash=item3ab301d4f5:g:JbQAAOSwQTVV-osy">Ublox GPS NEO-M8N</a></p>
<p>GPS Baud rate: 38400</p>
<p>Wire colours:</p>
<table class="table table-bordered" style="width: auto">
<thead class="thead-light">
<tr>
<th scope="col">USB pins</th>
<th scope="col">Jumper Colours</th>
<th scope="col">GPS Wire colours</th>
</tr>
</thead>
<tbody>
<tr>
<th scope="row">3V3</th>
<td>Green</td>
<td>Red</td>
</tr>
<tr>
<th scope="row">TXD</th>
<td>Orange</td>
<td>White</td>
</tr>
<tr>
<th scope="row">RXD</th>
<td>Yellow</td>
<td>Yellow</td>
</tr>
<tr>
<th scope="row">GND</th>
<td>Red</td>
<td>Black</td>
</tr>
</tbody>
</table>
</div>
<div>
<h2>Usage</h2>
<h3>Run python directly</h3>
<ol>
<li>In terminal,
<pre><code class="hljs">sudo chmod 777 /dev/ttyUSB0
python gps_pyserial.py</code></pre>
</li>
</ol>
</div>
<h3>Run ROS</h3>
<ol>
<li>Download nmea_navsat_driver</li>
<li>In terminal,</li>
<pre><code class="hljs">git clone https://github.com/ros-drivers/nmea_navsat_driver.git</code></pre>
<li>Place nmea_navsat_driver package in src of catkin workspace, locate the files:
<ul>
<li>nmea_serial_driver</li>
<li>nmea_topic_serial_reader</li>
</ul>
<p>and ensure that the following line is set:</p>
<pre><code class="hljs python">serial_baud = rospy.get_param(<span class="hljs-string">'~baud'</span>, <span class="hljs-number">38400</span>) <span class="hljs-comment"># sets the baud rate to 38400</span></code></pre>
</li>
<li>Add the <code>gps_readable.py</code> file in the same location as the previous 2 files.</li>
<li>In terminal,
<pre><code class="hljs">roscore
source /devel/setup.bash
rosrun nmea_navsat_driver nmea_topic_serial_reader
rosrun nmea_navt_driver gps_readable.py</code></pre>
</li>
</ol>
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