NovAtel

We use this at MIT-PITT-RW and WATonomous for the GNSS.

I need to figure out the exact model

$30K?

• https://docs.google.com/document/d/1ymyOm8QYsXmAkuKnQh1b-huXfOUwGq0TbAbd2Lsld_0/edit

https://novatel.com/products/receivers/enclosures

Usage in ROS2

• https://github.com/novatel/novatel_oem7_driver/tree/humble

• 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 odometry 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

Related

• VectorNav