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Version: ROS 2 Jazzy

Inertial Navigation Systems

Inertial Navigation Systems (INS) compute and provide position, orientation and velocity data. They can be augmented with GNSS and/or visual data for more precise outputs.

INS may publish a variety of data, including sensor_msgs/msg/Imu, sensor_msgs/msg/NavSatFix, and nav_msgs/msg/Odometry types.

Fixposition Vision-RTK 2​

ins:
  - model: fixposition
    urdf_enabled: true
    launch_enabled: true
    parent: default_mount
    xyz: [0.0, 0.0, 0.0]
    rpy: [0.0, 0.0, 0.0]
    ip: 192.168.131.35
    port: "21001"
    antennas:
      - type: spherical
        parent: base_link
        xyz: [0.0, 0.0, 0.0]
        rpy: [0.0, 0.0, 0.0]
      - type: spherical
        parent: base_link
        xyz: [0.0, 0.0, 0.0]
        rpy: [0.0, 0.0, 0.0]
    ros_parameters:
      fixposition_driver:
        fp_output:
          formats:
            - ODOMETRY
            - LLH
            - RAWIMU
            - CORRIMU
          rate: 200
          type: tcp
          reconnect: 5
        customer_input:
          speed_topic: "xvn/speed"
          rtcm_topic: "xvn/rtcm"

Package and Setup​

The Fixposition Vision-RTK2 (formerly Fixposition XVN) uses the fixposition_driver_ros2 ROS 2 driver, maintained by Fixposition. The driver is open-source and hosted on GitHub.

The ROS 2 driver must be built from source, following these instructions.

For specifics on the way Clearpath's configuration system launches the fixposition_driver_ros2, see the Fixposition launch file and the default parameter file in clearpath_sensors.

Antenna configuration​

The Fixposition Vision-RTK2 requires two GNSS antennas. The position and type of each antenna is defined in the antennas array. Each antenna instance may contain the following attributes:

  • type: the shape of the antenna: spherical (default), helical, or patch
  • parent: the parent link of the antenna in the URDF. default_mount if unspecified
  • xyz: the XYZ offset from the parent link to the antenna's mounting point
  • rpy: the RPY offset relative to the parent link
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