UM982 Driver for ROS2

This package provides a ROS2 driver for the UNICORECOMM UM982/UM980 GPS device. It reads data from the GPS device and publishes it as ROS2 messages.

Features

• Reads GPS data from UNICORECOMM UM982/UM980 devices
• Supports NMEA and extended NMEA instruction sets: PVTSLN, GNHPR, BESTNAV
• Publishes GPS data as standard ROS2 messages:
  • sensor_msgs/NavSatFix for GPS position
  • nav_msgs/Odometry for UTM position and velocity

Installation

Dependencies

• ROS2 Jazzy
• Python packages:
  • pyproj
  • pyserial

Building from Source

# Clone the repository into your ROS2 workspace
cd ~/ros2_ws/src
git clone https://github.com/ironoa/um982_ros2_driver.git

# Install dependencies
sudo apt-get update && \
    apt-get install -y \
    ros-jazzy-tf-transformations \
    python3-pyproj \
    python3-serial

# Build the package
cd ~/ros2_ws
colcon build --packages-select um982_ros2_driver

# Source the workspace
source ~/ros2_ws/install/setup.bash

Usage

Configuration

Before using the driver, you need to configure the UM982 device to output the required data. Connect to the device and send the following commands (for example with UPrecise, unfortunately working on Windows only):

config com3 115200
PVTSLNA com3 0.05
GPHPR com3 0.05
BESTNAVA com3 0.05

This configures the device to output the required data on COM2 at 115200 baud rate, with a frequency of 0.05 seconds (20 Hz).

Running the Node

You can run the node using the provided launch file:

ros2 launch um982_ros2_driver um982_ros2_driver.launch.py port:=/dev/ttyUSB0 baud:=115200

Parameters

The node supports the following parameters:

• port (string, default: /dev/ttyUSB0): Serial port for the UM982 GPS device
• baud (int, default: 921600): Baud rate for the serial connection
• frame_id (string, default: gps): Frame ID for the GPS messages
• child_frame_id (string, default: base_link): Child frame ID for the odometry message
• publish_rate (double, default: 20.0): Rate at which to publish GPS data (Hz)

Published Topics

• /gps/fix (sensor_msgs/NavSatFix): GPS position data
• /gps/utmpos (nav_msgs/Odometry): UTM position and velocity data

License

This package is licensed under the GPL License.

Acknowledgements

• This driver is based on the UM982Driver by sunshineharry.
• A very nice youtube tutorial playlist can be found here, Thanks to Ocean Exploration Lab