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U-blox NEO-6m GPS module

Here you'll learn how to add an of-the-shelf GPS module to the Rover functionalties.


Works only with Leo Rover 1.5; Leo Rover 1.6 and Leo Rover 1.7. For the newest Leo Rover 1.8, please refer to UBLOX EVK-M8N GPS module integration.

The first step is to choose an appropriate GPS module. Before you make a decision, make sure your GPS sensor can communicate via a serial interface and can sending data in NMEA format. In the tutorial, we apply the u-blox neo-6m GPS module. Link to the datasheet.

U-blox NEO-6m GPS module

  • Power requirements:  2,7 V - 5,0 V; 80 mA
  • Communication: NMEA, UART 4800, 9600 (default), 19200, 38400, 57600, 115200, 230400 bps
  • Positioning accuracy: 2,5 m
  • Sensitivity: -161 dBm
  • Max. update rate: 5 Hz (deault 1 Hz)
  • Internal EEPROM
  • Cold / Warm start: 27 sekund / 1 sekunda
  • Internal antenna and u.FL connector for additional external antenna

More info:

UART GPS NEO-6M UART GPS Module, NEO-6M onboard, curved/horizontal pinheader

U-blox NEO-6m GPS module
u-blox NEO-6m GPS module

GPS connection

To connect the GPS module to the Core2ROS driver, use the hSense port 3.

Core2 ROS board
Core2-ROS hSense port 3

Connect the GPS module according to pin description below. The easiest way to connect GPS module to the controller is to use IDC connector and four jumper cables.

hSense pin
GPS pin
U-blox NEO-6m GPS module connected to the Core2 controller

Mounting the GPS module on the top of Leo Rover

The best way to get clear GPS data from the module is to mount it as far from Leo Rover's electronics as possible. We recommend mounting it on the top of the rover so the module is shielded from its bottom and has clear 'view' to the satellites.

First you need to route the module cables out of the main electronics box (MEB). The easiest way is to use one of Dev-Covers that we prepared for such projects.

Dev-Covers for addons

We didn't prepare any 3D-model of the module support yet. You'll need to be more creative sourcing or designing your own.

Enable GPS functionality

Make sure your rover is up-to-date. GPS functionality was added to the default firmware in the v1.0.0 release.

Firmware update

Enable GPS

Open a new remote terminal session on the Rover:.


Enable the GPS functionality by calling the service to /core2/set_gps

Restart the board to apply changes.

You can restart the board by calling the service core2/reset_board

Check if it works

Check if the GPS module is configured properly by listing available topics. You should see the new topic  /gps_fix .

To check if GPS is publishing data correctly, type:

There will be coordinate data occurring only if GPS found its position.

Check if the coordinates obtained are correct in Google Maps.




U-blox NEO-6m GPS module

Here you'll learn how to add an of-the-shelf GPS module to the Rover functionalties.

What to expect?


List of components

Mechanical integration

Wiring and electronics connection

Software integration


What next?


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