Novatel OEM6

  • Interface Name

    novatel-oem6

  • Supported Since

    V2.0.8-pr.8

  • Sensor Communication Protocol

    Ethernet

  • PolySync Sensor Type

    380

  • PolySync Configuration

    See the sensor notes at the bottom of this article for steps on configuring the Novatel system prior to connecting it to PolySync.

    * [Define the node](https://help.polysync.io/releases/2.0.7//articles/add-a-sensor-node/) in the SDF Configurator
    * [Run the Dynamic Driver interface](https://help.polysync.io/releases/2.0.7//articles/manually-starting-nodes/)

  • Input Message Types

    Input Message Type Input Message Note
    ps_byte_array_msg Raw bytes from Ethernet socket
  • Output Message Types

    Output Message Type Output Message Note
    ps_gps_msg Not published to the PolySync bus by default
    ps_imu_msg Not published to the PolySync bus by default
    ps_platform_motion_msg Published to the PolySync bus by default
  • Command Line Arguments

    Flag Description
    -d enable additional debugging output [optional]
    -t perform a validation test on the interface [optional]
  • Sensor Configuration Parameters

    Parameter ID Description Value Type Values Notes
    1001 Sensor 0 Identifier 1 1
    1002 Sensor 0 X Position 3 0.0
    1003 Sensor 0 Y Position 3 0.0
    1004 Sensor 0 Z Position 3 0.0
    1005 Sensor 0 Roll Orientation 3 0.0
    1006 Sensor 0 Pitch Orientation 3 0.0
    1007 Sensor 0 Yaw Orientation 3 0.0
    5500 Get GPS information from what the device determines is the best possible solution (value 0 means disabled) 1 1
    5501 Get GPS information with PDP filter applied (value 0 means disabled) 1 0
    5502 Get GPS information using RTK (value 0 means disabled) 1 0
    5505 Data rate of IMU [Hz] 1 0
  • IO Configuration Parameters

    Parameter ID Description Value Type Values Notes
    500 Socket 0 Port Number 1 2000
    501 Socket 0 Address 4 192.168.74.10
  • Node Configuration Parameters

    Parameter ID Description Value Type Values Notes
    40 Executable File Path 4 /usr/local/polysync/bin/polysync-dynamic-driver
    42 PolySync-Abstraction-Layer Interface File Name 4 /usr/local/polysync/lib/libps_novatel_oem6_interface.so
    800 Active Coordinate Frame Identifier 1 4

    Vehicle centered coordinate frame

    2032 Publishes message type "ps_platform_motion_msg" (value 0 means disabled) 1 1
    2034 Publishes message type "ps_imu_msg" (value 0 means disabled) 1 0
    2036 Publishes message type "ps_gps_msg" (value 0 means disabled) 1 0
    2002 Publishes message type "ps_byte_array_msg 1 0