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1. Electrical Division
2. Electrical Division Home
3. Sensor Interfacing Group
4. Positioning Sensor Setup

[ Electrical Division : Positional Sensor Drivers ]

Created by [ Rowan Dempster], last modified by [ Rohit Kochhar] on Mar 12, 2020

Note that before launching any drivers, the networking for the positional sensors must be set up correctly, so please read that information first. At the time of writing this, there is no networking setup necessary for the positional sensors, but that may change in the future.

GPS/IMU

The GPS/IMU ROS drivers we use are supplied by Novatel, yay Novatel!

What do to:

1. cd ~/integration. The integration folder in the home directory is where we keep the crystal rugged's (the car's computer) catkin workspace. If you don't know what a catkin workspace is, read some ROS tutorials!
2. source ./devel/setup.zsh. Again if you don't know what this does, ROS tutorials.
3. roslaunch novatel_span_driver example.launch IP:=169.254.0.16

\

What should happen then:

1. The positional sensor driver nodes will launch, start collecting positional readings over the network and publishing them in ROS messages.
2. You can view the positional ROS msgs being sent simply by doing rostopic echo /navsat/odom. If you don't know what rostopic echo does, read some ROS tutorials!

The GPS can be programmed using the Novatel web interface. Simply connect to the Wi-Fi network hosted by the Novatel IMU.

SSID: NMNE17480001M
Password: AAUBEU35

Configuring CANbus and NMEA messages on GPS:
https://docs.novatel.com/OEM7/Content/Configuration/Configuring_the_CAN_Bus.htm

NMEA Formatting documentation for Novatel:
https://docs.novatel.com/OEM7/Content/Commands/NMEAFORMAT.htm

Set the NMEA Talker ID for Novatel:
https://docs.novatel.com/OEM7/Content/Commands/NMEATALKER.htm#oem7_fw_commands_2851160788_3485700

Configure the PPS commands in Novatel:
https://docs.novatel.com/OEM7/Content/Commands/PPSCONTROL.htm

The GPS User Guide and Manual:
https://docs.novatel.com/OEM7/Content/PDFs/PreviousVersions/PwrPak7_Installation_Operation_Manual_v3.pdf

SPAN Installation and Operation Manual: https://docs.novatel.com/OEM7/Content/PDFs/OEM7_SPAN_Installation_Operation_Manual.pdf

Comments:

+———————————————————————–+ | [] | | | | Mark for deletion. | | | | {.smallfont align=”left” style=”color: #666666; width: 98%; margi | | n-bottom: 10px;”} | | | | Posted by henry.wang at Mar 05, 2020 08:25 | | | +———————————————————————–+

Document generated by Confluence on Nov 28, 2021 22:40

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