GPS Ultimate gps v3

ROS nmea navsat driver

Adafruit 1

Adafruit 2

Specifications

-165 dBm sensitivity, 10 Hz updates, 66 channels
RTC battery-compatible
5V friendly design and only 20mA current draw
Built-in datalogging
PPS output on fix
Internal patch antenna + u.FL connector for external active antenna
Fix status LED

Technical details

Satellites: 22 tracking, 66 searching
Patch Antenna Size: 15mm x 15mm x 4mm
Update rate: 1 to 10 Hz
Position Accuracy: < 3 meters (all GPS technology has about 3m accuracy)
Velocity Accuracy: 0.1 meters/s
Warm/cold start: 34 seconds
Acquisition sensitivity: -145 dBm
Tracking sensitivity: -165 dBm
Maximum Velocity: 515m/s
Vin range: 3.0-5.5VDC
MTK3339 Operating current: 25mA tracking, 20 mA current draw during navigation
Output: NMEA 0183, 9600 baud default, 3V logic level out, 5V-safe input
DGPS/WAAS/EGNOS supported
FCC E911 compliance and AGPS support
Up to 210 PRN channels
Jammer detection and reduction
Multi-path detection and compensation

Installing GPS support in ROS

In order to install Adafruit GPS package in ROS, go to the source folder in catkin workspace and clone nmea_navsat_driver from github. Having cloned nmea_navsat_driver, compile the ROS package and it is ready to be launched.

$ cd ~/catkin_ws/src/ $ git clone https://github.com/ros-drivers/nmea_navsat_driver -b indigo-devel $ cd .. $ catkin_make $ catkin_make install $ source devel/setup.bash

Testing ROS Package

To test the ROS package for IMU, you should call the nmea_serial_driver from nmea_navsat_driver package, as:

$ rosrun nmea_navsat_driver nmea_serial_driver _port:=/dev/ttyUSB0 fix:=/gps/fix

Now you can check whether the topic /gps/fix exists.