IMU, AHRS & GNSS/INS#
NovAtel GNSS/INS Sensors#
NovAtel GNSS/INS sensors which has ROS 2 driver and tested by one or more community members are listed below:
| Supported Products List | INS Rate | Roll, Pitch, Yaw Acc. | GNSS | ROS 2 Driver | Autoware Tested (Y/N) |
|---|---|---|---|---|---|
| PwrPak7D-E2 | 200 Hz | R (0.013°) P (0.013°) Y (0.070°) | 20 Hz L1 / L2 / L5 555 Channels | Y | - |
| Span CPT7 | 200 Hz | R (0.01°) P (0.01°) Y (0.03°) | 20 Hz L1 / L2 / L5 555 Channels | Y | - |
Link to ROS 2 driver:
https://github.com/swri-robotics/novatel_gps_driver/tree/ros2-devel
Link to company website:
https://novatel.com/products/gnss-inertial-navigation-systems
XSens GNSS/INS & IMU Sensors#
XSens GNSS/INS sensors which has ROS 2 driver and tested by one or more community members are listed below:
| Supported Products List | INS/IMU Rate | Roll, Pitch, Yaw Acc. | GNSS | ROS 2 Driver | Autoware Tested (Y/N) |
|---|---|---|---|---|---|
| MTi-680G | 2 kHz | R (0.2°) P (0.2°) Y (0.5°) | 5 Hz L1 / L2 184 Channels | Y | - |
| MTi-300 AHRS | 2 kHz | R (0.2°) P (0.2°) Y (1°) | Not Applicable | Y | - |
Link to ROS 2 driver:
http://wiki.ros.org/xsens_mti_driver
Link to company website:
https://www.xsens.com/
SBG GNSS/INS & IMU Sensors#
SBG GNSS/INS sensors which has ROS 2 driver and tested by one or more community members are listed below:
| Supported Products List | INS/IMU Rate | Roll, Pitch, Yaw Acc. | GNSS | ROS 2 Driver | Autoware Tested (Y/N) |
|---|---|---|---|---|---|
| Ellipse-D | 200 Hz, 1 kHz (IMU) | R (0.1°) P (0.1°) Y (0.05°) | 5 Hz L1 / L2 184 Channels | Y | Y |
| Ellipse-A (AHRS) | 200 Hz, 1 kHz (IMU) | R (0.1°) P (0.1°) Y (0.8°) | Not Applicable | Y | - |
Link to ROS 2 driver:
https://github.com/SBG-Systems/sbg_ros2_driver
Link to company website:
https://www.sbg-systems.com/ellipse-series/
Applanix GNSS/INS Sensors#
Applanix GNSS/INS sensors which has ROS 2 driver and tested by one or more community members are listed below:
| Supported Products List | INS/IMU Rate | Roll, Pitch, Yaw Acc. | GNSS | ROS 2 Driver | Autoware Tested (Y/N) |
|---|---|---|---|---|---|
| POSLVX | 200 Hz | R (0.03°) P (0.03°) Y (0.09°) | L1 / L2 / L5 336 Channels | Y | Y |
| POSLV220 | 200 Hz | R (0.02°) P (0.02°) Y (0.05°) | L1 / L2 / L5 336 Channels | Y | Y |
Link to ROS 2 driver:
http://wiki.ros.org/applanix_driver
Link to company website:
https://applanix.trimble.com/en/products/hardware/applanix-pos-lv
PolyExplore GNSS/INS Sensors #
PolyExplore GNSS/INS sensors which has ROS 2 driver and tested by one or more community members are listed below:
| Supported Products List | INS/IMU Rate | Roll, Pitch, Yaw Acc. | GNSS | ROS 2 Driver | Autoware Tested (Y/N) |
|---|---|---|---|---|---|
| POLYNAV 2000P | 100 Hz | R (0.01°) P (0.01°) Y (0.1°) | L1 / L2 240 Channels | Y | - |
| POLYNAV 2000S | 100 Hz | R (0.015°) P (0.015°) Y (0.08°) | L1 / L2 40 Channels | Y | - |
Link to ROS 2 driver:
https://github.com/polyexplore/ROS2_Driver
Link to company website:
https://www.polyexplore.com/
Fixposition Visual GNSS/INS Sensors #
| Supported Products List | INS/IMU Rate | Roll, Pitch, Yaw Acc. | GNSS | ROS 2 Driver | Autoware Tested (Y/N) |
|---|---|---|---|---|---|
| Vision-RTK 2 | 200Hz | R (0.1°) P (0.1°) Y (0.4°) | 5 Hz L1 / L2 | Y | - |
Link to ROS 2 driver:
https://github.com/fixposition/fixposition_driver
Link to company website:
https://www.fixposition.com/
Additional utilities:
- Fixposition SDK, which has the GNSS transformation functions: https://github.com/fixposition/fixposition-sdk
- Miscellaneous utilities (logging, software update, ...): https://github.com/fixposition/fixposition_utility