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Version: 0.7.0

Standard Kit Hardware Checklist

The OutdoorNav Standard Hardware Kit from Clearpath Robotics contains:

  • SwiftNav Piksi/Duro GNSS (x2)
  • Microstrain GX5-25 AHRS
  • Velodyne Puck (VLP-16) 3D LiDAR

To integrate this kit onto your robot, ensure that all of the requirements below are satisfied for proper operation of the OutdoorNav software.

All sensors have been mounted to the platform with fixed brackets. Ie. the sensor should not move or rotate relative to the platforms base_link.
Spacing between the GNSS antennas is greater than 0.7 m.
SwitfNav Piksi/Duro GNSS units and Velodyne LiDAR unit have been configured to communicate over ethernet (IP). IP sensors are assigned within the following ranges on the 192.168.131.XXX subnet and recorded in the table below.
LiDARs:, GNSS:, Microhard:

SensorSensor IP
SwiftNav Piksi/Duro (Reference)
SwiftNav Piksi/Duro (Attitude)
Velodyne VLP-16
Microhard Wireless (Base Station)
Microhard Wireless (Platform)
For each sensor that is to be integrated, measure the XYZ position, in metres, and RPY (roll/pitch/yaw) orientation, in radians, relative to the robot's base_link frame. Record the XYZ and RPY values in the table below.

GNSS Antenna (Reference)
GNSS Antenna (Attitude)
Velodyne VLP-16
Microstrain GX5­-25 AHRS

Signature: Date: