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IMU, AHRS & GNSS/INS#

NovAtel GNSS/INS Sensors#

images/gnss-novatel.png

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/dashing-devel

Link to company website:
https://hexagonpositioning.com/

XSens GNSS/INS & IMU Sensors#

images/gnss-novatel.png

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#

images/gnss-sbg.png

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

Link to company website:
https://www.sbg-systems.com/products/ellipse-series/

Applanix GNSS/INS Sensors#

images/gnss-applanix.png

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)
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://www.applanix.com/products/poslv.htm

PolyExplore GNSS/INS Sensors#

images/gnss-polyexplore.png

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/

Fix Position GNSS/INS Sensors#

images/gnss-fixposition.png

Supported Products List INS/IMU Rate Roll, Pitch, Yaw Acc. GNSS ROS 2 Driver  Autoware Tested (Y/N)
Vision-RTK 2 200Hz - 5 Hz
L1 / L2
Y -

Link to ROS 2 driver:
https://github.com/fixposition/fixposition_driver

Link to company website:
https://www.fixposition.com/