GPS-RTK2 BOARD - ZED-F9P and OpenLog Artemis set-up on Linux

GPS/GNSS Development Boards
1

Problem statement

Disclaimer: Please bear with me. I am new in this domain and my questions will look silly for someone, for that I apologize in advance. I have contacted the support team and they informed to create a post on this forum.

So, I have Nvidia AGX, an Ouster Lidar (OS1, 64 channel) and an industrial camera (Teledyne Nano C1930). I am trying to perform ground truth validation and thinking of including a GNSS as an external time source for time synchronization and this I want to achieve via PTP protocol. I am using the ROS environment to record the data using Ouster package provided by ouster team where as for camera I am leveraging the CVB python framework from stemmer imaging, the camera vendor.

Now, I want to add the RTk2 GPS module to Linux (Ubuntu Nvidia Agx host) which should act as Master clock or sync the host time with the GPS module. In addition to this, I want to to record the IMU data to the openLog artemis on SD Card.

Following are descriptions that we had followed and were able to solve some of the problems.

Configuration

Here is the screenshot of the device Manager (Windows 10):

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The GPS-RTK2 BOARD - ZED-F9P module will only work if under the PORTS in device manager (see above screenshot), there is a u-blox GNSS Receiver (COM7) entry, if there is USB serial Device entry it will not work and I will be getting the error as follows:

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Whereas, the problem with connecting via uCenter on Windows 10 is solved (see the blurred screenshot from uCenter). However, Our ultimate goal is to set up and configure the GPS-RTK2 BOARD - ZED-F9P (QWIIC) module and the SparkFun OpenLog Artemis on Linux (NVIDIA AGX or Jetson Tx2 model) and not on Arduino or Windows OS.

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However, there was no success with the connectivity of GPS-RTK2 BOARD on Linux. You can see the logs for different commands that I have used. I tested it with gpsd for linux. Assuming gpsd and gpsd-client are installed and other logs are attached as text files.

workstation1@workstation1:/dev$ sudo lsusb
Bus 002 Device 006: ID 0bda:0409 Realtek Semiconductor Corp.
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 012: ID 0bda:5409 Realtek Semiconductor Corp.
Bus 001 Device 023: ID 1546:01a9 U-Blox AG

workstation1@workstation1:/dev$ cgps -s

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I have also looked at the linux kernel that had drivers for the GPS module but was not sure whats happening.

  • https://git.kernel.org/pub/scm/linux/ke … u-blox.txt

    https://git.kernel.org/pub/scm/linux/ke … ubx.c#n135

    • QUESTIONS

  • How to install the drivers for Linux as opposed to Windows 10? So I can test the connectivity. This is the biggest problem that I am facing, not able to connect or run the GPS module on the Linux system. Answered: This GPS device is supported by Linux out-of-the-box. Just check your module configurations.

  • I want to sync the Linux(Host Nvidia AGX) time with the GPS as well as log the IMU data to the Openlog Artemis SD card. I was not able to find any documentation or tutorial on how to connect the logger to the GPS module. Any help in this direction would be very helpful? Keeping in mind that I am completely new in this domain. I know that USB port can be used for configuration.

  • Based on the previous question I want to introduce the gps module to Nvidia AGX which should act as external master clock (a grandmaster clock to discipline the system time of the Linux host) source via USB for PTP protocol? I am not sure whether this is possible or not and for this question, please forgive me if I am wrong.

    • Any feedback would be appreciated.

    Regards,

    Affi](https://imgbb.com/)](cgps-s hosted at ImgBB — ImgBB)](Capture-censored hosted at ImgBB — ImgBB)](https://imgbb.com/)](https://imgbb.com/)

    2

    Hey I was able to connect to Linux and the logs by running the following command:

    so question 1 is solved and good to know that this GPS device is supported by Linux out-of-the-box. I did some research and got help from this https://area-51.blog/2012/06/18/getting … pberry-pi/.

    sudo cat /dev/ttyACM0