Atlans C INS - norlab-ulaval/Norlab_wiki GitHub Wiki

1. Turn on bracker (when the warthog is outside)

2. connect to the Atlans-C INS:
   192.168.0.4
   

3. Check the alignment status :
     ↳ setup
       ↳ DMI calibration
   Make sure the external sensors GPS box is ON

or use:

ros2 topic echo /benchmark_atlansc/diagnostics

4. If you are using NTRIP corrections enable it by connecting to the Septentrio GPS:
   192.168.0.6
     ↳ corrections

5. Initialisation phase: Drive the robot (idealy in 8 shapes) and wait for the alignement to be fine alignment or optimal alignment if you are using NTRIP corrections.

6. Once it is initialized launch the INS from imu benchmarking repos using:

ros2 launch imu_benchmarking atlansc_launch.xml

Old repos:

ixblue_ins_stdbind_driver et ixblue_stdbind_decoder