ROS采集GPS/北斗数据在百度地图中可视化位置 |
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ROS采集GPS/北斗数据在百度地图中可视化位置
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基于USB-RS232协议输出UM220-III/3-N/北斗GPS模块定位信息，使用ROS与js的接口包——roslibjs，调用百度地图js API，并可视化数据，笔者测试的效果如下（红点表示经过的路径点，GPS/北斗数据存在误差，所以路径点不连续）
使用者需要先下载安装roslibjs，再注册百度地图或高德地图。 读取GPS/北斗的定位数据代码 import serial import rospy from nmea_msgs.msg import Sentence from libnmea_navsat_driver.driver import RosNMEADriver if __name__ == '__main__': rospy.init_node('nmea_topic_serial_reader') # fine when using 10 Hz nmea_pub = rospy.Publisher("nmea_sentence", Sentence, queue_size=3) serial_port = rospy.get_param('~port','/dev/ttyUSB0') serial_baud = rospy.get_param('~baud',115200) # Get the frame_id frame_id = RosNMEADriver.get_frame_id() try: GPS = serial.Serial(port=serial_port, baudrate=serial_baud, timeout=2) while not rospy.is_shutdown(): data = GPS.readline().strip() sentence = Sentence() sentence.header.stamp = rospy.get_rostime() sentence.header.frame_id = frame_id sentence.sentence = data nmea_pub.publish(sentence) except rospy.ROSInterruptException: GPS.close() #Close GPS serial port数据点在网页的可视化代码为 body, html,#allmap {width: 100%;height: 100%;overflow: hidden;margin:0;font-family:"微软雅黑";} 地图显示Connecting to rosbridge... // Connecting to ROS // ----------------- var ros = new ROSLIB.Ros(); // If there is an error on the backend, an 'error' emit will be emitted. ros.on('error', function(error) { document.getElementById('connecting').style.display = 'none'; document.getElementById('connected').style.display = 'none'; document.getElementById('closed').style.display = 'none'; document.getElementById('error').style.display = 'inline'; console.log(error); }); // Find out exactly when we made a connection. ros.on('connection', function() { console.log('Connection made!'); document.getElementById('connecting').style.display = 'none'; document.getElementById('error').style.display = 'none'; document.getElementById('closed').style.display = 'none'; document.getElementById('connected').style.display = 'inline'; }); ros.on('close', function() { console.log('Connection closed.'); document.getElementById('connecting').style.display = 'none'; document.getElementById('connected').style.display = 'none'; document.getElementById('closed').style.display = 'inline'; }); // Create a connection to the rosbridge WebSocket server. ros.connect('ws://localhost:9090'); // define two global variant var x = 0; var y = 0; //Subscribing to a Topic //---------------------- // Like when publishing a topic, we first create a Topic object with details of the topic's name // and message type. Note that we can call publish or subscribe on the same topic object. var carPose = new ROSLIB.Topic({ ros : ros, name : '/simplegps', messageType : 'geometry_msgs/Pose2D' }); var sample = new ROSLIB.Topic({ ros : ros, name : '/simplegps', messageType : 'geometry_msgs/Pose2D' }); // Then we add a callback to be called every time a message is published on this topic. carPose.subscribe(function (message) { window.x = message.x; window.y = message.y; var map = new BMap.Map("allmap",{minZoom:3,maxZoom:19}); // 创建Map实例,设置地图允许的最小/大级别 var gpspoint = new BMap.Point(window.x, window.y); // 创建点坐标 // 添加带有定位的导航控件 var navigationControl = new BMap.NavigationControl({ // 靠左上角位置 anchor: BMAP_ANCHOR_TOP_LEFT, // LARGE类型 type: BMAP_NAVIGATION_CONTROL_LARGE, // 启用显示定位 enableGeolocation: true }); map.addControl(navigationControl); // 添加定位控件 var geolocationControl = new BMap.GeolocationControl(); geolocationControl.addEventListener("locationSuccess", function(e){ // 定位成功事件 var address = ''; address += e.addressComponent.province; address += e.addressComponent.city; address += e.addressComponent.district; address += e.addressComponent.street; address += e.addressComponent.streetNumber; alert("当前定位地址为：" + address); }); geolocationControl.addEventListener("locationError",function(e){ // 定位失败事件 alert(e.message); }); map.addControl(geolocationControl); //添加地图类型控件 map.addControl(new BMap.MapTypeControl({ mapTypes:[ BMAP_NORMAL_MAP, BMAP_HYBRID_MAP ]})); map.setCurrentCity("重庆"); // 设置地图显示的城市 此项是必须设置的 //坐标转换完之后的回调函数 translateCallback = function (data){ var bdpoint = data.points[0]; map.centerAndZoom(bdpoint, 12); map.enableScrollWheelZoom(true); //开启鼠标滚轮缩放 function Sample() //标住更新的位置 { sample.subscribe(function (message) { window.x = message.x; //更新点坐标 window.y = message.y; var gpspoint = new BMap.Point(window.x, window.y); // 创建点坐标 translateCallback1 = function (data) { var bdpoint1 = data.points[0] //创建点坐标 var marker = new BMap.Marker(bdpoint1); // 创建标注 map.addOverlay(marker); // 将标注添加到地图中 } function zbzh1() //坐标转换 { var convertor = new BMap.Convertor(); var pointArr = []; pointArr.push(gpspoint); convertor.translate(pointArr, 1, 5, translateCallback1) } zbzh1(); sample.unsubscribe(); }); } function xh() //无限循环 { setTimeout(function(){ Sample (); xh(); },3000); } setTimeout(xh(),3000); } function zbzh() //坐标转换 { var convertor = new BMap.Convertor(); var pointArr = []; pointArr.push(gpspoint); convertor.translate(pointArr, 1, 5, translateCallback) } zbzh(); // If desired, we can unsubscribe from the topic as well. carPose.unsubscribe(); });喜欢的话，请关注微信公众号，可阅读更多好文！
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