VRTK2 - ashBabu/Utilities GitHub Wiki

VRTK2 hardware is provided by FixPosition. Their github page is available here.

spacecraftRobot

Setting Up

  • Connect the 2 GNSS antennas and the wifi antenna
  • Connect to the battery. The leds will start blinking. If not blinking, likely that battery is out
  • Connect to the fixposition wifi from a laptop (fp_wer23, passwd:1234567890) and go to http://10.0.1.1/ to see the menu
  • Configuration --> Networking --> connect to a network with internet access (like phone)
  • Configuration --> RTK -> configure NTRIP. London NTRIP with address www.euref-ip.be:2102 and mountpoint LICC00GBR0 is not working as on 02 Mar 2023
    • The one that works is User: forward291-at-mailinator.com, password: none, Address: rtk2go.com:2101, MountPoint: LodeFarm. Here the user email could be anything
  • Navigate through the menu options in http://10.0.1.1/ to familiarize
  • Positioning --> Fusion status --> Start. This will fuse the two GNSS and camera to obtain a fused position. To do this make sure the imu biases are converged by doing a motion along the number 8. It will take 2-3 minutes and the top right corner shows three green circles if everything works. Only after this green circles status, the fusion starts and shows in red

Fixposition ROS

  • clone the repos fixposition_gnss_tf and fixposition_driver into catkin_ws/src/

  • Use catkin build. (catkin_make doesnt work. This is because the package.xml has

    ```
     <export>
         <build_type>cmake</build_type>
    </export>
```

cmake defined as build_type. Even if this build_type is commented out, a fixedposition_gnss_tfConfig.cmake not found error occurs.

  • The tcp.yaml file has to be modified with the right ip. For us it's 10.0.1.1.
  • Connect to the wifi (fp_wer23, passwd:1234567890) and use the roslaunch fixposition_driver_ros1 tcp.launch (given here) to start streaming various ros topics.
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