Hi, Al. I strongly recommend that you forget all about that code; it's really bad and very specific to the hardware I was using at the time. Do you know about AgOpenGPS (https://agopengps.jimdosite.com/)? It's a good place to start for a ready-to-run (but non-ROS) solution. For a ROS solution, please join us on ROS Agriculture (http://rosagriculture.org/). However...to answer your questions... Q1: /dev/gps_nmea is the NMEA port of my GPS. There's also a port for RTCM. Each one is a separate(!) USB interface. I use udev to assign the NMEA port to /dev/gps_nmea. It's usually /dev/ttyS0, I think. Q2: I used a Tinkerforge IMU Brick V2.0 as the IMU. I don't think I uploaded the code for its publisher. I'm now using an Advanced Navigation Spatial Dual (http://www.advancednavigation.com.au/product/spatial-dual). It's ridiculously expensive but awesome. Also, I'm trying to move everything to be more ROS-like. I'm in the midst of developing the code again. I suggest that you keep trying with Pure Pursuit. Brian at OpenAgGPS has had good results with it. At this moment, I am mapping the steering for my MT765 so that I can switch to Pure Pursuit. --- [Visit Topic](https://discourse.ros.org/t/tractobots-my-attempts-at-field-robots/1486/76) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: