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Fixposition Vision-RTK 2

Also known as Fixposition XVN

Software Bringup​

This sensor is included in the Clearpath Robotics robot package that is installed on all of our robots. This allows you to add or remove the sensor from your robot's software description by modifying the robot configuration yaml.

The driver is hosted on GitHub and must be compiled from source.

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

Troubleshooting​

Clearpath is committed to your success. Please get in touch with us and we will do our best to get you rolling again quickly: <support@clearpathrobotics.com>.

To get in touch with a salesperson regarding Clearpath Robotics products, please email <research-sales@clearpathrobotics.com>.

If you have an issue that is specifically about ROS and is something which may be of interest to the broader community, consider asking it on Robotics Stack Exchange. If you do not get a satisfactory response, please ping us and include a link to your question as posted there. If appropriate, we will answer on Robotics Stack Exchange for the benefit of the community.

Further Reading​

  1. Manufacturer Website
  2. GitHub
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