---
# System prepended metadata

title: '[筆記] 在 Linorobot 上安裝 GPS 驅動'
tags: [Linorobot, ROS, GPS]

---

# [筆記] 在 Linorobot 上安裝 GPS 驅動
> **此教學會說明如何在 Linorobot 中安裝 GPS 驅動程式**
>
> GPS 模組: ublox NEO-M8N
> 使用裝置: NVIDIA Jetson Nano 4G
> 作業系統: Ubuntu 18.04 LTS [(NVIDIA 提供的映像檔 ↗)](https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit#write=)
> 原文網址: https://hackmd.io/@EnderDragonEP/SJNo_m2cc
> 
> (c) 崑山科技大學 光達實驗室 楊釋詠
> 2022/7/1

## 安裝 nmea_navsat_driver 驅動
* 設定 sources.list，讓你的電腦能夠從 packages.ros.org 下載東西 [(資料來源  ↗)](http://wiki.ros.org/Installation/UbuntuARM)
    ```bash
    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
    ```
* 設定 apt-key
PS. 如果沒有安裝 curl 可以執行指令 `sudo apt install curl`
    ```bash
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
    ```
* 執行更新
    ```bash
    sudo apt update
    ```
* 安裝依賴項目
    ```bash
    sudo apt-get install ros-melodic-catkin-virtualenv \
                         ros-melodic-gps-common \
                         libgps-dev
    ```
* 從 Github 上面下載並安裝 nmea_navsat_driver
    ```bash
    cd ~/linorobot_ws/src
    git clone https://github.com/ros-drivers/nmea_navsat_driver.git
    cd ..
    catkin_make
    ```
<!--
## uDev Rules 設定
* 依照 [(3.1 定義硬體名稱 ↗)](https://hackmd.io/@EnderDragonEP/LinoRobotSOP-by-KSU-EilidarLab?both=#31-%E5%AE%9A%E7%BE%A9%E7%A1%AC%E9%AB%94%E5%90%8D%E7%A8%B1) 來定義裝置的 uDev 名稱
* 插入 NEO-M8N，並設定裝置的 uDev 名稱為 `linogps`
* 硬體都插入且定義名稱後按 Ctrl+C 結束並儲存
* 執行指令來儲存剛剛設定好的資料
    ```bash
    sudo cp 58-lino.rules /etc/udev/rules.d
    ```
* 在執行指令重新載入 uDev 設定，**不要用 3.1 裡面用到的 `sudo service udev reload` 以及
`sudo service udev restart` 來重新啟動 uDev**
    ```bash
    sudo udevadm control --reload
    ```
* 然後確認一下名稱正確且有正確儲存
    ```bash
    ls /dev/ | grep lino
    ```
    如圖 :
![uDev 名稱](data:image/png;base64,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)
-->

## 修改 launch 文件
* 找到 GPS USB 裝置的位置，輸入指令 [(資料來源 ↗)](http://community.bwbot.org/topic/718/gps%E5%9C%A8ros%E4%B8%AD%E7%9A%84%E6%B5%8B%E8%AF%95%E5%92%8C%E4%BD%BF%E7%94%A8?) :
    ```bash
    dmesg --follow
    ```
* 將 GPS 的 USB 插入後可以看到下面訊息:
    ```
    [  706.382905] usb 1-2.3: new full-speed USB device number 10 using tegra-xusb
    [  706.403852] usb 1-2.3: New USB device found, idVendor=1546, idProduct=01a8
    [  706.403859] usb 1-2.3: New USB device strings: Mfr=1, Product=2, SerialNumber=0
    [  706.403863] usb 1-2.3: Product: u-blox GNSS receiver
    [  706.403866] usb 1-2.3: Manufacturer: u-blox AG - www.u-blox.com
    [  706.404897] cdc_acm 1-2.3:1.0: ttyACM2: USB ACM device
    ```

* 從上面的回傳範例可知，裝置的位置為`ttyACM2`

* 使用 gedit 開啟 launch 檔案進行編輯
    ```bash
    gedit ~/linorobot_ws/src/nmea_navsat_driver/launch/nmea_serial_driver.launch
    ```
* 將第五行後面的 `/dev/ttyUSB0` 改為 `/dev/ttyACM2`
    ```xml=5
    <arg name="port" default="/dev/ttyACM2" />
    ```
* 將第六行後面的 `4800` 改為該裝置的波特率(Baud rate) `9600`
    ```xml=6
    <arg name="baud" default="9600" />
    ```

## 修改 Python 版本
* 修改 nmea_serial_driver 的 python 版本，否則跑的時候會出現問題 [(資料來源 ↗)](https://blog.csdn.net/lalsd/article/details/122016344)
    ```bash
    gedit ~/linorobot_ws/src/nmea_navsat_driver/scripts/nmea_serial_driver
    ```
* 將第一行的 `python3` 改為 `python2.7`，如下
    ```python=
    #! /usr/bin/env python2.7
    ```

## 執行
* 設定 /dev/ttyACM2 權限。注意! 每次開機位置可能會變動，需要在使用 `dmesg --follow` 查詢
    ```
    sudo chmod -R 777 /dev/ttyACM2
    ```
<!-- * 執行指令
```bash
rosrun nmea_navsat_driver nmea_serial_driver _port:=/dev/ttyACM2 _baud:=9600
``` -->
* 執行 nmea_serial_driver.launch
    ```bash
    roslaunch nmea_navsat_driver nmea_serial_driver.launch
    ```

* 知道裝置位置後如果不改 launch 檔案也可以直接執行指令下面來啟動程式
    ```
    rosrun nmea_navsat_driver nmea_serial_driver _port:=/dev/ttyACM2 _baud:=9600
    ```
    * _port:=`輸入裝置位置`
    * _baud:=`輸入波特率(Baud rate)`

* 查看發布訊息
    ```bash
     rostopic echo /fix
    ```
    訊息應該會如下圖所示 :
![ROS 發布的 /fix 訊息](data:image/png;base64,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)
* 還沒定位到衛星的時候經緯度跟海拔都會顯示 `nan`
* 翻譯 :
    * latitude → 緯度
    * longitude → 經度
    * altitude　→ 海拔

## 設定裝置 uDev 暱稱
* 開啟 rules 規則設定檔案，執行下面指令
    ```
    sudo nano -l /etc/udev/rules.d/58-lino.rules
    ```
* 然後在最下方加入此設定值 [( 資料來源 ↗ )](https://blog.csdn.net/qq_41949066/article/details/112683489
)
    ```
    KERNEL==“ttyTHS1”, SUBSYSTEM==“tty”, MODE=“0666”, GROUP=“eilidar”, SYMLINK+=“linogps”
    ```
    * KERNEL==“`輸入裝置位置，前段的 /dev/ 不需要加`”
    * GROUP=“`輸入 linux 的使用者名稱`”
    * SYMLINK+=“`uDev 暱稱，不須加 /dev/`”

* 重新啟動 uDev，終端機中輸入下面指令
    ```bash
    sudo service udev reload
    sudo service udev restart
    ```

* 確認 uDev 規則有正常運作，終端機中輸入下面指令

    ```bash
    ls /dev/ | grep lino
    ```

---
**參考網址 :**
* ROS 官方 說明頁面 :
http://wiki.ros.org/nmea_navsat_driver
* nmea_navsat_driver Github 連結 :
https://github.com/ros-drivers/nmea_navsat_driver
* 如何從 ROS 官方下載 packages :
http://wiki.ros.org/Installation/UbuntuARM

**其他參考連結 :**
* http://community.bwbot.org/topic/718/gps%E5%9C%A8ros%E4%B8%AD%E7%9A%84%E6%B5%8B%E8%AF%95%E5%92%8C%E4%BD%BF%E7%94%A8
* https://blog.csdn.net/lalsd/article/details/122016344
* https://copyfuture.com/blogs-details/202205091325548707
* https://blog.csdn.net/p942005405/article/details/123002038
* https://autoware.readthedocs.io/en/feature-documentation_rtd/DevelopersGuide/PackagesAPI/sensing/scripts.html
* https://blog.csdn.net/lalsd/article/details/122016344
* https://blog.csdn.net/q1070292175/article/details/81116566?depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7Edefault-1-81116566-blog-112374314.pc_relevant_multi_platform_whitelistv2
* https://github.com/ros-drivers/nmea_navsat_driver/issues/94

###### tags: `ROS` `Linorobot` `GPS`