Version: ROS 2 Humble

Garmin GPS 18x

Item Numbers

Description	CPR Item	Sales Kit	Installation Kit, With Fasteners
Garmin GPS 18x sensor, 5 Hz	001893	028876	028875

Specifications

Description	Value
Mass	165 kg
Voltage, Minimum	4 V
Voltage, Maximum	5.5 V
Voltage, Sensor	5 V
Power, Average	0.5 W
Data	TIA-232-F ( RS-232 ) Default setting is 19200 baud
View, Vertical	Unknown
Position Accuracy	15 m
Position Accuracy RTK (requires a Base Station or a positioning-service)	Unknown
Ingress Protection, Solids	Unknown ( assume 6 )
Ingress Protection, Liquids	7
Operating Temperature, Min	-30 °C
Operating Temperature, Max	80 °C

Software Bringup

This sensor is included in the Clearpath Robotics robot package that is installed on all of our robots. This allows you to add or remove the sensor from your robot's software description by modifying the robot configuration yaml.

gps:
  - model: garmin_18x
    urdf_enabled: true
    launch_enabled: true
    parent: base_link
    xyz: [0.0, 0.0, 0.0]
    rpy: [0.0, 0.0, 0.0]
    ros_parameters:
      nmea_navsat_driver:
        frame_id: gps_0_link
        port: "/dev/clearpath/gps"
        baud: 115200

Package and Setup

The Garmin 18x GPS sensor uses the nmea_navsat_driver ROS 2 driver. The driver is open source, maintained by the community, and hosted on GitHub.

For specifics on the way Clearpath's configuration system launches the sensor driver, see the Garmin 18x launch file and the default parameter file in clearpath_sensors.

Device Path

The port ROS parameter must be set to the device path of the Garmin 18x. To simplify this process, use the /dev/clearpath/gps path. This path is only available when the Clearpath robot UDEV rules are installed. These are installed alongside the clearpath_robot package. If the receiver is connected, but the /dev/clearpath/gps device is not, check the file /lib/udev/rules.d/60-ros-humble-clearpath-robot.rules exists.

Troubleshooting

Clearpath is committed to your success. Please get in touch with us and we will do our best to get you rolling again quickly: support@clearpathrobotics.com.

To get in touch with a salesperson regarding Clearpath Robotics products, please email research-sales@clearpathrobotics.com.

If you have an issue that is specifically about ROS and is something which may be of interest to the broader community, consider asking it on https://robotics.stackexchange.com. If you do not get a satisfactory response, please ping us and include a link to your question as posted there. If appropriate, we will answer in the ROS Answers context for the benefit of the community.

Item Numbers​

Specifications​

Software Bringup​

Package and Setup​

Device Path​

Troubleshooting​

Further Reading​