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Version: ROS 2 Humble

novatel_smart6

gps:
  - model: novatel_smart6
    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 Novatel Smart6 GNSS antenna 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 Novatel Smart6 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 Novatel Smart6. 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.

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