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Advanced Nav Drivers and ROS

asked 2015-05-13 20:54:42 -0500

new2ros gravatar image

updated 2015-10-15 18:41:08 -0500


Just wondering if anyone has had any success in integrating this device into ROS:

I think I have found a suitable driver: but there seems to be no information on how to use the driver or what parameters are to be passed to it, and it has been almost a year since it was last touched.

passing the command: rosrun spatial_ins spatial_node

create the topics /fix /imu and /ned_vel but nothing is published to them.

I think I have the drivers working correctly but how do I find out what arguments to pass or what arguments I could potentially pass.

Thanks in advance

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answered 2017-07-24 00:12:22 -0500

scott gravatar image

I have created an example driver for the range of Advance Navigation INS devices eg Spatial, Spatial Dual, Spatial FOG, Spatial FOG Dual, Motus, and Orientus.

The repository can be found here: .

If anyone has any questions, do not hesitate to contact me.

Scott O'Brien

Application Support Engineer

Phone: +61 2 9099 3800

Advanced Navigation

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Hi scott, This is krishnakumar from Titan India, We bought a Spatial INS for our AGV application, We read the data and there is no update in linear acceleration. And we need the position of the AGV. We are having ros-melodic in our GPU. thanq..

KrishKannan_007 gravatar image KrishKannan_007  ( 2019-09-13 22:35:59 -0500 )edit

Hello Krishnakumar , This ROS driver is a very basic example that shows you how to output data from Spatial and publish it as ROS messages. It does not include every function, packet or message. It is for you to extend it to suit your specific application. Other customers have done this and you can find some of their drivers on Github - look for Forks.

scott gravatar image scott  ( 2019-09-15 18:37:13 -0500 )edit

answered 2018-03-18 13:01:36 -0500

kylerlaird gravatar image

I have been modifying the Advanced Navigation driver.

It now outputs correct Pose along with a Transform and Odometry. It also accepts RTCM Strings and drops the (100%) CPU usage dramatically. It has made my project development much easier.

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Do you have ros code that publishes the NTRIP strings?

arash gravatar image arash  ( 2018-07-06 06:31:38 -0500 )edit

I've uploaded the code I use for this:

kylerlaird gravatar image kylerlaird  ( 2018-07-06 07:50:13 -0500 )edit

Thank you Kylerlaird. The I managed to use your code only with small editing of encoding the username and password to the b64 and sending it to the server. Now I recive the corrections but seems that the AN device does not use the corrections from the driver. Any suggestions?

arash gravatar image arash  ( 2018-10-01 04:24:17 -0500 )edit

Sorry it took so long for me to return to this. Is the RTCM data appearing on the "rtcm" topic specified for the driver?

kylerlaird gravatar image kylerlaird  ( 2019-01-27 10:09:28 -0500 )edit

answered 2015-10-15 18:38:56 -0500

new2ros gravatar image

I wouldn't recommend using this package, as it's far too tied into their development.

I would have to recommend the orientus driver it works with advanced navigations orientus unit which is available on ros:

This works and uses the standard libraries, I had no issues adapting this driver to the spatial units just by changing libraries to the spatial sdk avalaible at advanced navigation's website.

It's still very much a work in progress, but it works quite nicely.

Thanks for looking

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Were you able to find a more suitable driver or is this what you end up using? If so, can you share how you adapted it for Spatial (Dual?) INS?

chukcha2 gravatar image chukcha2  ( 2017-04-12 18:03:38 -0500 )edit

For the most part all that needs to be done is swapping out the library references for the ones offered in the SDK from Advanced Navigation, in the driver I mention you will also need to create the publishers required for messages you use and modify the packet settings in the orientus driver.

new2ros gravatar image new2ros  ( 2017-04-23 19:29:28 -0500 )edit

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Asked: 2015-05-13 20:54:42 -0500

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Last updated: Mar 18 '18