# 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°)<br>P (0.013°)<br>Y (0.070°) | 20 Hz<br>L1 / L2 / L5<br>555 Channels | Y | \- |
| Span CPT7 | 200 Hz | R (0.01°)<br>P (0.01°)<br>Y (0.03°) | 20 Hz<br>L1 / L2 / L5<br>555 Channels | Y | \- |

Link to ROS 2 driver:  
[https://github.com/swri-robotics/novatel\_gps\_driver/tree/ros2-devel](<https://github.com/swri-robotics/novatel_gps_driver/tree/ros2-devel>)

Link to company website:  
[https://novatel.com/products/gnss-inertial-navigation-systems](<https://novatel.com/products/gnss-inertial-navigation-systems>)

## **XSens GNSS/INS &amp; 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°)<br>P (0.2°)<br>Y (0.5°) | 5 Hz<br>L1 / L2<br>184 Channels | Y | \- |
| MTi-300 AHRS | 2 kHz | R (0.2°)<br>P (0.2°)<br>Y (1°) | Not Applicable | Y | \- |

Link to ROS 2 driver:  
[http://wiki.ros.org/xsens\_mti\_driver](<http://wiki.ros.org/xsens_mti_driver>)

Link to company website:  
[https://www.xsens.com/](<https://www.xsens.com/>)

## **SBG GNSS/INS &amp; 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°)<br>P (0.1°)<br>Y (0.05°) | 5 Hz<br>L1 / L2<br>184 Channels | Y | Y |
| Ellipse-A (AHRS) | 200 Hz, 1 kHz (IMU) | R (0.1°)<br>P (0.1°)<br>Y (0.8°) | Not Applicable | Y | \- |

Link to ROS 2 driver:  
[https://github.com/SBG-Systems/sbg\_ros2\_driver](<https://github.com/SBG-Systems/sbg_ros2_driver>)

Link to company website:  
[https://www.sbg-systems.com/ellipse-series/](<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°)<br>P (0.03°)<br>Y (0.09°) | L1 / L2 / L5<br>336 Channels | Y | Y |
| POSLV220 | 200 Hz | R (0.02°)<br>P (0.02°)<br>Y (0.05°) | L1 / L2 / L5<br>336 Channels | Y | Y |

Link to ROS 2 driver:  
[http://wiki.ros.org/applanix\_driver](<http://wiki.ros.org/applanix_driver>)

Link to company website:  
[https://applanix.trimble.com/en/products/hardware/applanix-pos-lv](<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°)<br>P (0.01°)<br>Y (0.1°) | L1 / L2<br>240 Channels | Y | \- |
| POLYNAV 2000S | 100 Hz | R (0.015°)<br>P (0.015°)<br>Y (0.08°) | L1 / L2<br>40 Channels | Y | \- |

Link to ROS 2 driver:  
[https://github.com/polyexplore/ROS2\_Driver](<https://github.com/polyexplore/ROS2_Driver>)

Link to company website:  
[https://www.polyexplore.com/](<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°)<br>P (0.1°)<br>Y (0.4°) | 5 Hz<br>L1 / L2 | Y | \- |

Link to ROS 2 driver:  
[https://github.com/fixposition/fixposition\_driver](<https://github.com/fixposition/fixposition_driver>)

Link to company website:  
[https://www.fixposition.com/](<https://www.fixposition.com/>)

Additional utilities:

- Fixposition SDK, which has the GNSS transformation functions: [https://github.com/fixposition/fixposition-sdk](<https://github.com/fixposition/fixposition-sdk>)
- Miscellaneous utilities (logging, software update, ...): [https://github.com/fixposition/fixposition\_utility](<https://github.com/fixposition/fixposition_utility>)