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Fixposition Driver ROS2

ROS (both ROS1 and ROS2) Driver for Fixposition Vision-RTK 2

Dependencies

This driver operates as a ROS node, connecting to either a TCP or serial stream of Fixposition Vision-RTK output data, see Fixposition ASCII messages and the Integration Manual.

Installing dependencies on Ubuntu system

 sudo apt update
 sudo apt install -y build-essential cmake
 sudo apt install -y libeigen3-dev

Installation

To install the node, extract / clone the code and fixposition_gnss_tf to your catkin workspace's src folder:

# The folder structure should look like this
fp_public_ws
├── src
│   ├── fixposition_driver
│   │   ├── fixposition_driver_lib
│   │   ├── fixposition_driver_ros1 # will be ignore by colcon when building for ROS2
│   │   ├── fixposition_driver_ros2
│   ├── fixposition_gnss_tf

make sure you have sourced the setup.bash from ros:

/opt/ros/{ROS_DISTRO}/setup.bash, for example

source /opt/ros/foxy/setup.bash

and build it with:

colcon build --packages-up-to fixposition_driver_ros2

This will build the ROS2 driver node and all its dependencies.

Then source your environment after the build:

source install/setup.bash

Launch the Driver

  • To launch the node in serial mode, run:

    ros2 launch fixposition_driver_ros2 serial.launch

  • In TCP mode (Wi-Fi):

    ros2 launch fixposition_driver_ros2 tcp.launch

  • In TCP mode (Ethernet):

    ros2 launch fixposition_driver_ros2 tcp.launch

To change the settings of TCP (IP, Port) or Serial (Baudrate, Port) connections, check the launch/tcp.yaml and launch/serial.yaml files.

Check the messages

  • Check rostopics:

    ros2 topic list

    there should be topics under the /fixposition namespace, for example:

    /fixposition/corrimu
/fixposition/navsatfix
/fixposition/odometry
/fixposition/odometry_enu
/fixposition/poiimu
/fixposition/rawimu
/fixposition/vrtk

  • Check published message in the topic, for example the VRTK message: ros2 topic echo /fixposition/vrtk