In this section, we will see how to interface some popular GPS modules with ROS. One of the popular GPS modules is Oxford Technical Solutions (OxTS). You can find GPS/IMU modules at http://www.oxts.com/products/.

The ROS interface of this module can be found at http://wiki.ros.org/oxford_gps_eth. The Applanix GPS/IMU ROS module driver can be found at the following links:

• applanix_driver: http://wiki.ros.org/applanix_driver
• applanix: http://wiki.ros.org/applanix

Let's now simulate IMU on Gazebo.