FAQ: How to Configure the Driver for a GNSS Only Receiver?

By default novatel_oem7_driver is configured for a GNSS+INS (SPAN) receiver. If you are using a GNSS only receiver, the configuration files will need to be modified. In config/std_init_commands, the following commands will need to be deleted or commented out:

- "LOG INSCONFIGB ONCE"
- "LOG INSCONFIGB ONTIME 300"
- "LOG INSPVASB ONTIME 0.02"
- "LOG INSPVAXB ONTIME 1"
- "LOG CORRIMUSB ONTIME 0.01"
- "LOG INSSTDEVB ONTIME 1"
- "LOG RAWIMUSXB ONNEW"
- "LOG INSUPDATESTATUSB ONNEW"

Warning

When using a GNSS only receiver not all ROS topics will be published, some of them may be missing information or publishing rates could be changed.

Refer to ROS2 Topic Mapping to see what topics are published with non SPAN logs.