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Ublox

A driver for ublox gps

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/learn @KumarRobotics/Ublox
About this skill

Quality Score

0/100

Supported Platforms

Universal

README

ublox

The ublox package provides support for u-blox GPS receivers. Only the serial configuration of the driver is documented here, but TCP/UDP communication is also supported by the driver (untested).

The driver was originally written by Johannes Meyer. Changes made later are detailed in the version history below.

Options

Example .yaml configuration files are included in ublox_gps/config. Consult the u-blox documentation for your device for the recommended settings.

The ublox_gps node supports the following parameters for all products and firmware versions:

  • device: Path to the device port. Defaults to /dev/ttyACM0.
  • raw_data: Whether the device is a raw data product. Defaults to false. Firmware <= 7.03 only.
  • load: Parameters for loading the configuration to non-volatile memory. See ublox_msgs/CfgCFG.msg
    • load/mask: uint32_t. Mask of the configurations to load.
    • load/device: uint32_t. Mask which selects the devices for the load command.
  • save: Parameters for saving the configuration to non-volatile memory. See ublox_msgs/CfgCFG.msg
    • save/mask: uint32_t. Mask of the configurations to save.
    • save/device: uint32_t. Mask which selects the devices for the save command.
  • uart1/baudrate: Bit rate of the serial communication. Defaults to 9600.
  • uart1/in: UART1 in communication protocol. Defaults to UBX, NMEA & RTCM. See CfgPRT message for possible values.
  • uart1/out: UART1 out communication protocol. Defaults to UBX, NMEA & RTCM. See CfgPRT message for possible values.
  • frame_id: ROS name prepended to frames produced by the node. Defaults to gps.
  • rate: Rate in Hz of measurements. Defaults to 4.
  • nav_rate: How often navigation solutions are published in number of measurement cycles. Defaults to 1.
  • enable_ppp: Enable precise-point-positioning system. Defaults to false.
  • gnss/sbas: Enable satellite-based augmentation system. Defaults to false.
  • sbas/max: Maximum number of SBAS channels. Defaults to 0.
  • sbas/usage: See CfgSBAS message for details. Defaults to 0.
  • dynamic_model: Possible values below. Defaults to portable. See u-blox documentation for further description.
    • portable
    • stationary
    • pedestrian
    • automotive
    • sea
    • airborne1: Airborne, max acceleration = 1G
    • airborne2: Airborne, max acceleration = 2G
    • airborne4: Airborne, max acceleration = 4G
    • wristwatch
  • fix_mode: Type of fixes supported: 2d, 3d or both.
  • dr_limit: Max time in seconds to use dead reckoning after signal is lost. Defaults to 0.
  • dat: Configuring the datum type (optional). See the CfgDAT message.
    • dat/set: If true, the node will the datum based on the parameters below (required if true). Defaults to false.
    • dat/majA: Semi-major Axis [m]
    • dat/flat: 1.0 / Flattening
    • dat/shift: [X-axis, Y-axis, Z-axis] shift [m]
    • dat/rot: [X, Y, Z] rotation [s]
    • dat/scale: scale change [ppm]

For firmware version 6:

  • nmea/set: If true, the NMEA will be configured with the parameters below.
  • nmea/version: NMEA version. Must be set if nmea/set is true.
  • nmea/num_sv: Maximum Number of SVs to report per TalkerId. Must be set if nmea/set is true.
  • nmea/compat: Enable compatibility mode. Must be set if nmea/set is true.
  • nmea/consider: Enable considering mode. Must be set if nmea/set is true.
  • nmea/filter: Namespace for filter flags.
    • nmea/filter/pos: Disable position filtering. Defaults to false.
    • nmea/filter/msk_pos: Disable masked position filtering. Defaults to false.
    • nmea/filter/time: Disable time filtering. Defaults to false.
    • nmea/filter/date: Disable date filtering. Defaults to false.
    • nmea/filter/sbas: Enable SBAS filtering. Defaults to false.
    • nmea/filter/track: Disable track filtering. Defaults to false.

For devices with firmware >= 7:

  • gnss parameters:
    • gnss/gps: Enable GPS receiver. Defaults to true.
    • gnss/glonass: Enable GLONASS receiver. Defaults to false.
    • gnss/beidou: Enable BeiDou receiver. Defaults to false.
    • gnss/qzss: Enable QZSS receiver. Defaults to false.
    • gnss/qzss_sig_cfg: QZSS signal configuration. Defaults to L1CA. See CfgGNSS message for constants.
  • nmea parameters:
    • nmea/set: If true, the NMEA will be configured.
    • nmea/version: NMEA version. Must be set if nmea/set is true.
    • nmea/num_sv: Maximum Number of SVs to report per TalkerId. Must be set if nmea/set is true.
    • nmea/sv_numbering: Configures the display of satellites that do not have an NMEA-defined value. Must be set if nmea/set is true.
    • nmea/compat: Enable compatibility mode. Must be set if nmea/set is true.
    • nmea/consider: Enable considering mode. Must be set if nmea/set is true.
    • nmea/limit82: Enable strict limit to 82 characters maximum. Defaults to false.
    • nmea/high_prec: Enable high precision mode. Defaults to false.
    • nmea/filter: Namespace for filter flags.
      • nmea/filter/pos: Enable position output for failed or invalid fixes. Defaults to false.
      • nmea/filter/msk_pos: Enable position output for invalid fixes. Defaults to false.
      • nmea/filter/time: Enable time output for invalid times. Defaults to false.
      • nmea/filter/date: Enable date output for invalid dates. Defaults to false.
      • nmea/filter/gps_only: Restrict output to GPS satellites only. Defaults to false.
      • nmea/filter/track: Enable COG output even if COG is frozen. Defaults to false.
    • nmea/gnssToFilt: Filters out satellites based on their GNSS.
      • nmea/gnssToFilt/gps: Disable reporting of GPS satellites. Defaults to false.
      • nmea/gnssToFilt/sbas: Disable reporting of SBAS satellites. Defaults to false.
      • nmea/gnssToFilt/qzss: Disable reporting of QZSS satellites. Defaults to false.
      • nmea/gnssToFilt/glonass: Disable reporting of GLONASS satellites. Defaults to false.
      • nmea/gnssToFilt/beidou: Disable reporting of BeiDou satellites. Defaults to false.
    • nmea/main_talker_id: This field enables the main Talker ID to be overridden. Defaults to 0.
    • nmea/gsv_talker_id: This field enables the GSV Talker ID to be overridden. Defaults to [0, 0].

For devices with firmware >= 8:

  • save_on_shutdown: If true, the node will send a UBX-UPD-SOS command to save the BBR to flash memory on shutdown. Defaults to false.
  • clear_bbr: If true, the node will send a UBX-UPD-SOS command to clear the flash memory during configuration. Defaults to false.
  • Additional gnss params
    • gnss/galileo: Enable Galileo receiver. Defaults to false.
    • gnss/imes: Enable IMES receiver. Defaults to false.
  • nmea/bds_talker_id: (See other NMEA configuration parameters above) Sets the two characters that should be used for the BeiDou Talker ID.

For UDR/ADR devices:

  • use_adr: Enable ADR/UDR. Defaults to true.
  • nav_rate should be set to 1 Hz.

For HPG Reference devices:

  • tmode3: Time Mode. Required. See CfgTMODE3 for constants.
  • arp/lla_flag: True if the Fixed position is in Lat, Lon, Alt coordinates. False if ECEF. Required if tmode3 is set to fixed.
  • arp/position: Antenna Reference Point position in [m] or [deg]. Required if tmode3 is set to fixed.
  • arp/position_hp: Antenna Reference Point High Precision position in [0.1 mm] or [deg * 1e-9]. Required if tmode3 is set to fixed.
  • arp/acc: Fixed position accuracy in [m]. Required if tmode3 is set to fixed.
  • sv_in/reset: Whether or not to reset the survey in upon initialization. If false, it will only reset if the TMODE is disabled. Defaults to true.
  • sv_in/min_dur: The minimum Survey-In Duration time in seconds. Required tmode3 is set to survey in.
  • sv_in/acc_lim: The minimum accuracy level of the survey in position in meters. Required tmode3 is set to survey in.

For HPG Rover devices:

  • dgnss_mode: The Differential GNSS mode. Defaults to RTK FIXED. See CfgDGNSS message for constants.

For TIM devices:

  • tim_tm2: Enable this message for GPS time-stamps everytime an external interrupt signal is received.

For FTS devices:

  • currently unimplemented. See FtsProduct class in ublox_gps package node.h & node.cpp files.

Fix Topics

~fix(sensor_msgs/NavSatFix)

Navigation Satellite fix.

~fix_velocity(geometry_msgs/TwistWithCovarianceStamped)

Velocity in local ENU frame.

INF messages

To enable printing INF messages to the ROS console, set the parameters below.

  • inf/all: This is the default value for the INF parameters below, which enable printing u-blox INF messages to the ROS console. It defaults to true. Individual message types can be turned off by setting their corresponding parameter to false.
  • inf/debug: Whether to configure the UBX and NMEA ports to send Debug messages and print received INF-Debug messages to ROS_DEBUG console.
  • inf/error: Whether to enable Error messages for the UBX and NMEA ports and print received INF-Error messages to ROS_ERROR console.
  • inf/notice: Whether to enable Notice messages for the UBX and NMEA ports and print received INF-Notice messages to ROS_INFO` console.
  • inf/test: Whether to enable Test messages for the UBX and NMEA ports and print received INF-Test messages to ROS_INFO console.
  • inf/warning: Whether to enable Warning messages for the UBX and NMEA ports and print received INF-Warning messages to the ROS_WARN console.

Additional Topics

To publish a given u-blox message to a ROS topic, set the parameter shown below to true. The node sets the rate of the u-blox messages to 1 measurement cycle.

All messages

  • `pub

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KumarRobotics/ublox

Languages

C++

Security Score

100/100

Audited on Mar 30, 2026

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