init

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(ros_ais)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  message_generation
+  sensor_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+ add_message_files(
+   FILES
+   ros_AIS123.msg
+   ros_AIS4_11.msg
+   ros_AIS8_dac200.msg
+ )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+ generate_messages(
+   DEPENDENCIES
+   std_msgs  # Or other packages containing msgs
+ )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES ros_ais
+#  CATKIN_DEPENDS roscpp rospy
+#  DEPENDS system_lib
+
+CATKIN_DEPENDS message_runtime
+
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/ros_ais.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/ros_ais_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_ros_ais.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

README.md

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+# ros_ais
+
+
+**Author**: Enrico Schuetz
+
+Software License Agreement (BSD License)
+
+**Description**: ROS driver for the dAISy AIS (Automatic Identification System)
+* CLASS A AIS POSITION REPORT (MESSAGES 1, 2, AND 3)
+* AIS BASE STATION REPORT (MESSAGE 4) AND COORDINATED UNIVERSAL TIME AND DATE RESPONSE (MESSAGE 11)
+
+## 1. Supported ROS Distribution
+
+* ROS Noetic Ninjemys (Ubuntu 20.04)
+
+## 2. Dependencies
+* Python 3
+* AIS receiver
+* pyserial
+* libais
+
+
+## 3. Installation
+
+
+
+pyserial must be installed if it is not on the computer.
+
+```
+$ pip install pyserial
+```
+install libais for `import ais`
+```
+cd utils/libais
+python3 setup.py build
+python3 setup.py install
+```
+create ros package
+```
+mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws/src
+git clone https://git.tu-berlin.de/ecschuetz/ros_ais.git
+cd ..
+catkin_make
+source devel/setup.bash
+```
+
+## 4. launch ais
+
+edit launch file `launch/ais.launch` for correct serial port and baudrate
+```
+roslaunch ros_ais ros_daisy.py
+```
+alternatively change it from commandline
+```
+roslaunch ros_ais ros_daisy.py serial_port:=/dev/ttyACM0 baudrate:=38400  # default
+```
+
+## 5. mentioned reports 
+in `msg/ros_AIS123.msg` your can find the class A AIS Position Report Messages, as defined in libais.
+You can see all available Messages in the picture. For more information, see [https://gpsd.gitlab.io/gpsd/AIVDM.html](https://gpsd.gitlab.io/gpsd/AIVDM.html) and [https://github.com/schwehr/libais/blob/master/src/libais/ais1_2_3.cpp](https://github.com/schwehr/libais/blob/master/src/libais/ais1_2_3.cpp)
+<img src="utils/images/PositionReport.png" width="100%">
+
+in `msg/ros_AIS4_11.msg` you can find the class A AIS Base Station Report, see.
+<img src="utils/images/BaseStationReport.png" width="100%">
+
+
+

launch/ais.launch

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+<?xml version="1.0"?>
+<launch>
+
+    <arg name="serial_port" default="/dev/ttyACM0" />
+    <arg name="frame_id" default="ais_link" />
+    <arg name="frequency" default="10" />
+    <arg name="baudrate" default="38400" />
+
+
+    <node pkg="ros_ais" type="ros_daisy.py" name="AIS_node" output="screen" respawn="true">
+        <param name="serial_port" value="$(arg serial_port)" />
+        <param name="frame_id" value="$(arg frame_id)" />
+        <param name="frequency" value="$(arg frequency)" />
+        <param name="baudrate" value="$(arg baudrate)" />
+    </node>
+
+</launch>

msg/ros_AIS123.msg

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+#CLASS A AIS POSITION REPORT (MESSAGES 1, 2, AND 3)
+#A Class A AIS unit broadcasts the following information every 2 to 10 seconds while underway, and every 3 minutes while at anchor at a power level of 12.5 watts.
+
+Header header
+
+int32 id   #Identifier for this message 1, 2 or 3
+
+int32 repeat_indicator   #Used by the repeater to indicate how many times a message has been repeated. See Section 4.6.1, Annex 2; 0-3; 0 = default; 3 = do not repeat any more.
+
+int32 mmsi   #MMSI number
+
+
+#0 = under way using engine, 1 = at anchor, 2 = not under command, 3 = restricted maneuverability, 4 = constrained by her draught, 5 = moored, 6 = aground, 7 = engaged in fishing, 8 = under way sailing, 9 = reserved for future amendment of navigational status for ships carrying DG, HS, or MP, or IMO hazard or pollutant category C, high speed craft (HSC), 10 = reserved for future amendment of navigational status for ships carrying dangerous goods (DG), harmful substances (HS) or marine pollutants (MP), or IMO hazard or pollutant category A, wing in ground (WIG); 11 = power-driven vessel towing astern (regional use); 12 = power-driven vessel pushing ahead or towing alongside (regional use);
+# 13 = reserved for future use,
+# 14 = AIS-SART (active), MOB-AIS, EPIRB-AIS
+# 15 = undefined = default (also used by AIS-SART, MOB-AIS and EPIRB-AIS under test)
+int32 nav_status
+
+#0 to +126 = turning right at up to 708 deg per min or higher
+# 0 to -126 = turning left at up to 708 deg per min or higher Values between 0 and 708 deg per min coded by ROTAIS = 4.733 SQRT(ROTsensor) degrees per min
+# where ROTsensor is the Rate of Turn as input by an external Rate of Turn Indicator (TI). ROTAIS is rounded to the nearest integer value.
+# +127 = turning right at more than 5 deg per 30 s (No TI available)
+# -127 = turning left at more than 5 deg per 30 s (No TI available)
+# -128 (80 hex) indicates no turn information available (default).
+# ROT data should not be derived from COG information.
+string rot_over_range
+float64 rot
+
+#Speed over ground in 1/10 knot steps (0-102.2 knots)
+# 1 023 = not available, 1 022 = 102.2 knots or higher
+float64 sog
+
+#The position accuracy (PA) flag should be determined in accordance with the table below:
+# 1 = high (<= 10 m)
+# 0 = low (> 10 m)
+# 0 = default
+int32 position_accuracy
+
+
+#Latitude in 1/10 000 min (+/-90 deg, North = positive (as per 2's complement), South = negative (as per 2's complement). 91deg (3412140h) = not available = default)
+float64 latitude
+
+#Longitude in 1/10 000 min (+/-180 deg, East = positive (as per 2's complement), West = negative (as per 2's complement).
+# 181= (6791AC0h) = not available = default)
+float64 longitude
+
+#Course over ground in 1/10 = (0-3599). 3600 (E10h) = not available = default. 3 601-4 095 should not be used
+float64 cog
+
+#Degrees (0-359) (511 indicates not available = default)
+int32 true_heading
+
+#UTC second when the report was generated by the electronic position system (EPFS) (0-59, or 60 if time stamp is not available,
+#which should also be the default value, or 61 if positioning system is in manual input mode, or 62 if electronic position fixing
+#system operates in estimated (dead reckoning) mode, or 63 if the positioning system is inoperative)
+int32 timestamp
+
+#0 = not available = default
+# 1 = not engaged in special maneuver
+# 2 = engaged in special maneuver
+# (i.e.: regional passing arrangement on Inland Waterway)
+int32 special_manoeuvre
+
+#Not used. Should be set to zero. Reserved for future use.
+int32 spare
+
+string raim
+int32 sync_state
+int32 slot_timeout
+float64 utc_hour
+float64 utc_min
+float64 utc_spare