Question 1

How to install and set up NovAtel GPS driver in ROS 2?

Accepted Answer

Install via apt-get for ROS 2 Dashing or newer, or build from source using colcon. Configure a launch file with parameters like connection_type and device, referencing the example in the README for serial or TCP connections.

Question 2

What's the difference between NovAtel GPS driver and nmea_navsat_driver in ROS?

Accepted Answer

NovAtel driver specializes in NovAtel binary and ASCII logs for high precision and IMU data, while nmea_navsat_driver handles generic NMEA sentences but lacks NovAtel-specific features and efficiency.

Question 3

How to enable IMU data publishing with NovAtel GPS driver?

Accepted Answer

Set the publish_imu_messages parameter to true, configure imu_rate and imu_sample_rate, and ensure your NovAtel receiver has SPAN support. Use binary logs by setting use_binary_messages to true for better performance.

Question 4

Can I use this driver with a u-blox GPS module?

Accepted Answer

No, it's tailored only for NovAtel receivers. For u-blox or other brands, consider ROS drivers like nmea_navsat_driver or vendor-specific alternatives, as this driver won't parse their data formats.

Question 5

How to add a custom log type to NovAtel GPS driver?

Accepted Answer

Follow the README steps: create a new ROS message, extend the MessageParser class in C++, modify NovatelGps and NovatelGpsNodelet, and add unit tests. This requires proficiency in C++ and the codebase structure.

Question 6

What logs are published by default in NovAtel GPS driver?

Accepted Answer

Only GPSFix messages are always published. Other logs like BESTPOS or BESTVEL must be enabled via parameters such as publish_novatel_positions, which are false by default to reduce topic spam.

novatel_gps_driver

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