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correll / advancedrobotics

Advanced Robotics class repository
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Provide power / wiring to GPS #19

Closed correll closed 9 years ago

correll commented 9 years ago

Currently uses RS232, need to to migrate to FTDI232

rmaheshkumarblr commented 9 years ago

The GPS Module that came with the Jaquar Platform is Garmin 18x GPS Navigator Unit

Specification Sheet: http://static.garmincdn.com/pumac/GPS_18x_Tech_Specs.pdf

image

The GPS 18x LVC/18x-5Hz interfaces to a serial port. The unit accepts TIA-232-F (RS-232) level inputs and transmits voltage levels from ground to the input voltage, TIA-232-F (RS-232) polarity.

rmaheshkumarblr commented 9 years ago

RS232 to FTDI232

Reference: http://www.usconverters.com/index.php?main_page=page&id=62

The Quick Checklist:

Preferred processor chip: FTDI or Silabs (very reliable) Preferred serial driver chip: ZyWyn, Maxin or NI (very reliable) Minimum 5.0VDC output power at serial connector (ensures reliable data transmission) Build-in electro-static protection for at least 600W (protects against static electricity) LED lights for TX and RX activity (nice to have when troubleshooting)

We could go for one of the following:

http://www.amazon.com/Gearmo%C2%AE-RS-232-Serial-Adapter-Chipset/dp/B004WL7MIQ

http://www.amazon.com/GearMo%C2%AE-Header-Like-FTDI-TTL-232R-5V/dp/B004LC28G2

http://www.amazon.com/gp/product/B00AHYJWWG/

correll commented 9 years ago

I have ordered the first item. It might also work for the IMU.

On Fri, Sep 4, 2015 at 7:06 PM, rmaheshkumarblr notifications@github.com wrote:

RS232 to FTDI232

Reference: http://www.usconverters.com/index.php?main_page=page&id=62

The Quick Checklist:

Preferred processor chip: FTDI or Silabs (very reliable) Preferred serial driver chip: ZyWyn, Maxin or NI (very reliable) Minimum 5.0VDC output power at serial connector (ensures reliable data transmission) Build-in electro-static protection for at least 600W (protects against static electricity) LED lights for TX and RX activity (nice to have when troubleshooting)

We could go for one of the following:

http://www.amazon.com/Gearmo%C2%AE-RS-232-Serial-Adapter-Chipset/dp/B004WL7MIQ

http://www.amazon.com/GearMo%C2%AE-Header-Like-FTDI-TTL-232R-5V/dp/B004LC28G2

http://www.amazon.com/gp/product/B00AHYJWWG/

— Reply to this email directly or view it on GitHub https://github.com/correll/advancedrobotics/issues/19#issuecomment-137890437 .

Assistant Professor @correlllab, http://correll.cs.colorado.edu Open robotics textbook: http://amzn.to/1vTjnt9 (buy), http://bit.ly/1vr7ptA (contribute)

rmaheshkumarblr commented 9 years ago

The Garmin GPS by default had only 4 wires connected to the output terminal. As per the Specification, there are suppose to be 6 wires. One wire which is going to PPS ( Pulse per second ) was not to be found in the output terminal. The other was a extra GND.

Steve suggested to use the PPS for enabling NTP using the Chrony software on top of Linus PPS ( This would enable all the robots to be in sync with respect to time since they would be using the time from the satellites via the GPS instead of using the local clock ).

I cut the wire of Garmin GPS Module and found 7 wires ( 3 GNDs , Vcc , RX , TD , PPS )

With the help of Steve, got the RS232 Connector (USB to Serial) to be opened as well. Later we removed connection to the pins 1 6 7 8 and 9. Manually soldered pin 1 to Vcc of the USB ( 5V ) and pin 6 to GND.

We connected the USB to Serial cable to Computer and we started getting inputs from the GPS module. Tried with different baud rate and figured out that it is currently set to 115200 .

image

Command to use while connecting from Linux:

image

image

correll commented 9 years ago

Great job!

On Fri, Sep 11, 2015 at 2:05 PM, Mahesh Kumar Ravindranathan < notifications@github.com> wrote:

The Garmin GPS by default had only 4 wires connected to the output terminal. As per the Specification, there are suppose to be 6 wires. One wire which is going to PPS ( Pulse per second ) was not to be found in the output terminal. The other was a extra GND.

Steve suggested to use the PPS for enabling NTP using the Chrony software on top of Linus PPS ( This would enable all the robots to be in sync with respect to time since they would be using the time from the satellites via the GPS instead of using the local clock ).

I cut the wire of Garmin GPS Module and found 7 wires ( 3 GNDs , Vcc , RX , TD , PPS )

With the help of Steve, got the RS232 Connector (USB to Serial) to be opened as well. Later we removed connection to the pins 1 6 7 8 and 9. Manually soldered pin 1 to Vcc of the USB ( 5V ) and pin 6 to GND.

We connected the USB to Serial cable to Computer and we started getting inputs from the GPS module. Tried with different baud rate and figured out that it is currently set to 115200 .

[image: image] https://cloud.githubusercontent.com/assets/1996917/9824963/a2b2ff88-588d-11e5-8e56-847898ebd2e3.png

Command to use while connecting from Linux:

[image: image] https://cloud.githubusercontent.com/assets/1996917/9825011/f96509ca-588d-11e5-884c-7d81ea1d191d.png

[image: image] https://cloud.githubusercontent.com/assets/1996917/9825020/02812b2e-588e-11e5-94cd-21b70dc5cb02.png

— Reply to this email directly or view it on GitHub https://github.com/correll/advancedrobotics/issues/19#issuecomment-139649221 .

Assistant Professor @correlllab, http://correll.cs.colorado.edu Open robotics textbook: http://amzn.to/1vTjnt9 (buy), http://bit.ly/1vr7ptA (contribute)

rmaheshkumarblr commented 9 years ago

Entered udev rules for the GPS module to be linked via the name GPS_System:

ubuntu@tegra-ubuntu:~$ cat /etc/udev/rules.d/10-self-defined.rules | head -1 SUBSYSTEM=="tty", ATTRS{idVendor}=="0403" , ATTRS{manufacturer}=="FTDI" ,ATTRS{serial}=="AL00ITFV" , MODE="0666" , SYMLINK+="GPS_System" ubuntu@tegra-ubuntu:~$

ubuntu@tegra-ubuntu:~$ ls -ltr /dev/GPS_System lrwxrwxrwx 1 root root 7 Sep 15 19:15 /dev/GPS_System -> ttyUSB0 ubuntu@tegra-ubuntu:~$

ubuntu@tegra-ubuntu:~$ screen /dev/GPS_System 115200n81

$GPGGA,001908.0,4000.41520,N,10515.80242,W,0,00,,,M,,M,,_5B $GPGSA,A,1,,,,,,,,,,,,,,,_1E $GPVTG,,T,,M,,N,,K_4E $GPRMC,001908.2,V,4000.41520,N,10515.80242,W,,,220899,008.7,E_62 $GPGGA,001908.2,4000.41520,N,10515.80242,W,0,00,,,M,,M,,*59

Method to use UDEV ( Collecting the required Information ):

ubuntu@tegra-ubuntu:~$ lsusb Bus 002 Device 003: ID 285e:3efd
Bus 002 Device 002: ID 2109:8110
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Bus 001 Device 005: ID 0403:6001 Future Technology Devices International, Ltd FT232 USB-Serial (UART) IC

ubuntu@tegra-ubuntu:~$ dmesg | tail -5 [ 45.303606] usb 1-3.3: Number of endpoints 2 [ 45.303613] usb 1-3.3: Endpoint 1 MaxPacketSize 64 [ 45.303619] usb 1-3.3: Endpoint 2 MaxPacketSize 64 [ 45.303625] usb 1-3.3: Setting MaxPacketSize 64 [ 45.304351] usb 1-3.3: FTDI USB Serial Device converter now attached to ttyUSB0 ubuntu@tegra-ubuntu:~$

[ 45.303606] usb 1-3.3: Number of endpoints 2 [ 45.303613] usb 1-3.3: Endpoint 1 MaxPacketSize 64 [ 45.303619] usb 1-3.3: Endpoint 2 MaxPacketSize 64 [ 45.303625] usb 1-3.3: Setting MaxPacketSize 64 [ 45.304351] usb 1-3.3: FTDI USB Serial Device converter now attached to ttyUSB0 ubuntu@tegra-ubuntu:~$

ubuntu@tegra-ubuntu:~$ udevadm info -a -p $(udevadm info -q path -n /dev/ttyUSB0)

Udevadm info starts with the device specified by the devpath and then walks up the chain of parent devices. It prints for every device found, all possible attributes in the udev rules key format. A rule to match, can be composed by the attributes of the device and the attributes from one single parent device.

looking at device '/devices/platform/tegra-xhci/usb1/1-3/1-3.3/1-3.3:1.0/ttyUSB0/tty/ttyUSB0': KERNEL=="ttyUSB0" SUBSYSTEM=="tty" DRIVER==""

looking at parent device '/devices/platform/tegra-xhci/usb1/1-3/1-3.3/1-3.3:1.0/ttyUSB0': KERNELS=="ttyUSB0" SUBSYSTEMS=="usb-serial" DRIVERS=="ftdi_sio" ATTRS{port_number}=="0" ATTRS{latency_timer}=="1"

looking at parent device '/devices/platform/tegra-xhci/usb1/1-3/1-3.3/1-3.3:1.0': KERNELS=="1-3.3:1.0" SUBSYSTEMS=="usb" DRIVERS=="ftdi_sio" ATTRS{bInterfaceClass}=="ff" ATTRS{bInterfaceSubClass}=="ff" ATTRS{bInterfaceProtocol}=="ff" ATTRS{bNumEndpoints}=="02" ATTRS{supports_autosuspend}=="1" ATTRS{bAlternateSetting}==" 0" ATTRS{bInterfaceNumber}=="00" ATTRS{interface}=="FT232R USB UART"

looking at parent device '/devices/platform/tegra-xhci/usb1/1-3/1-3.3': KERNELS=="1-3.3" SUBSYSTEMS=="usb" DRIVERS=="usb" ATTRS{bDeviceSubClass}=="00" ATTRS{bDeviceProtocol}=="00" ATTRS{devpath}=="3.3" ATTRS{idVendor}=="0403" ATTRS{speed}=="12" ATTRS{bNumInterfaces}==" 1" ATTRS{bConfigurationValue}=="1" ATTRS{bMaxPacketSize0}=="8" ATTRS{busnum}=="1" ATTRS{devnum}=="5" ATTRS{configuration}=="" ATTRS{bMaxPower}=="90mA" ATTRS{authorized}=="1" ATTRS{bmAttributes}=="a0" ATTRS{bNumConfigurations}=="1" ATTRS{maxchild}=="0" ATTRS{bcdDevice}=="0600" ATTRS{avoid_reset_quirk}=="0" ATTRS{quirks}=="0x0" ATTRS{serial}=="AL00ITFV" ATTRS{version}==" 2.00" ATTRS{urbnum}=="15" ATTRS{ltm_capable}=="no" ATTRS{manufacturer}=="FTDI" ATTRS{removable}=="unknown" ATTRS{idProduct}=="6001" ATTRS{bDeviceClass}=="00" ATTRS{product}=="FT232R USB UART"

looking at parent device '/devices/platform/tegra-xhci/usb1/1-3': KERNELS=="1-3" SUBSYSTEMS=="usb" DRIVERS=="usb" ATTRS{bDeviceSubClass}=="00" ATTRS{bDeviceProtocol}=="01" ATTRS{devpath}=="3" ATTRS{idVendor}=="2109" ATTRS{speed}=="480" ATTRS{bNumInterfaces}==" 1" ATTRS{bConfigurationValue}=="1" ATTRS{bMaxPacketSize0}=="64" ATTRS{busnum}=="1" ATTRS{devnum}=="2" ATTRS{configuration}=="" ATTRS{bMaxPower}=="0mA" ATTRS{authorized}=="1" ATTRS{bmAttributes}=="e0" ATTRS{bNumConfigurations}=="1" ATTRS{maxchild}=="4" ATTRS{bcdDevice}=="9070" ATTRS{avoid_reset_quirk}=="0" ATTRS{quirks}=="0x0" ATTRS{version}==" 2.10" ATTRS{urbnum}=="57" ATTRS{ltm_capable}=="no" ATTRS{manufacturer}=="VIA Labs, Inc. " ATTRS{removable}=="unknown" ATTRS{idProduct}=="2811" ATTRS{bDeviceClass}=="09" ATTRS{product}=="USB2.0 Hub "

looking at parent device '/devices/platform/tegra-xhci/usb1': KERNELS=="usb1" SUBSYSTEMS=="usb" DRIVERS=="usb" ATTRS{bDeviceSubClass}=="00" ATTRS{bDeviceProtocol}=="01" ATTRS{devpath}=="0" ATTRS{idVendor}=="1d6b" ATTRS{speed}=="480" ATTRS{bNumInterfaces}==" 1" ATTRS{bConfigurationValue}=="1" ATTRS{bMaxPacketSize0}=="64" ATTRS{authorized_default}=="1" ATTRS{busnum}=="1" ATTRS{devnum}=="1" ATTRS{configuration}=="" ATTRS{bMaxPower}=="0mA" ATTRS{authorized}=="1" ATTRS{bmAttributes}=="e0" ATTRS{bNumConfigurations}=="1" ATTRS{maxchild}=="6" ATTRS{bcdDevice}=="0310" ATTRS{avoid_reset_quirk}=="0" ATTRS{quirks}=="0x0" ATTRS{serial}=="tegra-xhci" ATTRS{version}==" 2.00" ATTRS{urbnum}=="29" ATTRS{ltm_capable}=="no" ATTRS{manufacturer}=="Linux 3.10.40-grinch-21.3.4 tegra-xhci" ATTRS{removable}=="unknown" ATTRS{idProduct}=="0002" ATTRS{bDeviceClass}=="09" ATTRS{product}=="Nvidia xHCI Host Controller"

looking at parent device '/devices/platform/tegra-xhci': KERNELS=="tegra-xhci" SUBSYSTEMS=="platform" DRIVERS=="tegra-xhci"

looking at parent device '/devices/platform': KERNELS=="platform" SUBSYSTEMS=="" DRIVERS==""

ubuntu@tegra-ubuntu:~$

ubuntu@tegra-ubuntu:~$ cat /etc/udev/rules.d/10-self-defined.rules | head -1 SUBSYSTEM=="tty", ATTRS{idVendor}=="0403" , ATTRS{manufacturer}=="FTDI" ,ATTRS{serial}=="AL00ITFV" , MODE="0666" , SYMLINK+="GPS_System" ubuntu@tegra-ubuntu:~$

Applying Changes: ( NOTE : Make sure you have only one line per device, the complete entry must be made in a single line. )

ubuntu@tegra-ubuntu:~$ sudo udevadm control --reload-rules && sudo service udev restart && sudo udevadm trigger ubuntu@tegra-ubuntu:~$

rmaheshkumarblr commented 9 years ago

Installing robot_localization package using the link : http://wiki.ros.org/robot_localization

I had to install roslint as it was a dependency: (Reference Link: http://answers.ros.org/question/204078/roslint-error/ )

I had to install nmea_navsat_driver-package: (Reference Link : http://answers.ros.org/question/190264/trouble-installing-nmea_navsat_driver-package/ )

Created a launch file.

ubuntu@tegra-ubuntu:~/catkin_ws/src/robot_localization/launch$ ls GPS_System.launch ekf_template.launch navsat_transform_template.launch ukf_template.launch ubuntu@tegra-ubuntu:~/catkin_ws/src/robot_localization/launch$ cat GPS_System.launch

``` ```

ubuntu@tegra-ubuntu:~/catkin_ws/src/robot_localization/launch$ pwd /home/ubuntu/catkin_ws/src/robot_localization/launch ubuntu@tegra-ubuntu:~/catkin_ws/src/robot_localization/launch$

ubuntu@tegra-ubuntu:~/catkin_ws$ rosnode info /navsattest

Node [/navsattest] Publications:

Subscriptions: None

Services:

contacting node http://tegra-ubuntu:49325/ ... Pid: 5431 Connections:

ubuntu@tegra-ubuntu:~/catkin_ws$

ubuntu@tegra-ubuntu:~/catkin_ws/src/robot_localization/launch$ rostopic echo /fix header: seq: 28 stamp: secs: 1442445792 nsecs: 31938076 frame_id: /gps status: status: -1 service: 1 latitude: 40.00692 longitude: -105.263373667 altitude: nan position_covariance: [nan, 0.0, 0.0, 0.0, nan, 0.0, 0.0, 0.0, nan]

position_covariance_type: 1

ubuntu@tegra-ubuntu:~/catkin_ws/src/robot_localization/launch$ rostopic echo /time_reference header: seq: 1 stamp: secs: 1442445840 nsecs: 637577056 frame_id: /gps time_ref: secs: 1442364563 nsecs: 0

source: /gps

header: seq: 2 stamp: secs: 1442445840 nsecs: 836549997 frame_id: /gps time_ref: secs: 1442364563 nsecs: 0 source: /gps