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Is there a way to use the nmea_gps_driver on electric version of ros?

asked 2012-03-29 08:41:54 -0500

BetoCC011 gravatar image

updated 2012-03-29 11:17:34 -0500

Eric Perko gravatar image

In the documentation, they say i can only use this driver in fuerte version or newer, due to the dependency on sensor_msgs/TimeReference

Is it possible to chance the driver so it doenst have this depency, or to chance ros electric to have this depency?

Thanks.

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answered 2012-03-29 10:40:32 -0500

joq gravatar image

updated 2012-04-06 06:29:46 -0500

From a glance at the code, it certainly looks possible.

If you have time to work on it, check out the git sources and make a patch to submit. A single solution that works with both Electric and Fuerte would be ideal.

UPDATE: I've given some thought to how this could be done in Python. First make the import conditional:

try:
    from sensor_msgs.msg import TimeReference
except ImportError:
    TimeReference = None

Then, make sure TimeReference is True before doing anything with the gpstime variables:

if TimeReference:
    gpstimePub = rospy.Publisher('time_reference', TimeReference)
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answered 2012-03-29 11:25:55 -0500

Eric Perko gravatar image

updated 2012-03-29 11:28:18 -0500

It would certainly be possible to remove that dependency, as long as, as @joq mentions, it's a single solution that keeps the functionality for Fuerte and provides compatibility with Electric.

Please file an enhancement ticket for this functionality on the project trac (note you can also find that link at the bottom of nmea_gps_driver under "Request features") and reply here with the link once you've done that.

If you want to go ahead and create a patch that provides Electric compatibility, just attach it to that ticket and I'll gladly take a look at it.

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Asked: 2012-03-29 08:41:54 -0500

Seen: 180 times

Last updated: Apr 06 '12