NovAtel
We use this at MIT-PITT-RW and WATonomous for the GNSS.
I need to figure out the exact model
$30K?
https://novatel.com/products/receivers/enclosures
- We have this on the WATonomous car
At WATO, we have a off-the-shelf solution for localization (to determine where we are in the HD map):
implementation details and how we interface with the hardware That’s all implemented in the ROS driver, which we copied over here: https://git.uwaterloo.ca/WATonomous/wato_monorepo/-/tree/develop/src/sensor_interfacing/novatel_span_driver
Code that sets up the socket: https://git.uwaterloo.ca/WATonomous/wato_monorepo/-/blob/develop/src/sensor_interfacing/novatel_span_driver/novatel_span_driver/src/novatel_span_driver/bridge.py
Code that translates socket messages into ROS messages: https://git.uwaterloo.ca/WATonomous/wato_monorepo/-/blob/develop/src/sensor_interfacing/novatel_span_driver/novatel_span_driver/src/novatel_span_driver/translator.py
Code that sets up the ROS transform tree and odomtry messages: https://git.uwaterloo.ca/WATonomous/wato_monorepo/-/blob/develop/src/sensor_interfacing/novatel_span_driver/novatel_span_driver/src/novatel_span_driver/publisher.py