Fixposition Operation

_images/husky_fixposition.png

Fixposition can be operated via serial mode, WiFi mode, or LAN mode. Our recommendation is to connect and use the LAN mode for operation of Fixposition with the robot.

Fixposition Serial

  • Configure the connection port:

roscd fixposition_driver/launch/
gedit serial.yaml

  • Ensure that the port in the yaml file of the Fixposition corresponds correctly to where it is connected.

_images/serial_yaml.png

  • To launch the node in serial mode, run:

roslaunch fixposition_driver serial.launch

Fixposition WiFi

  • Configure the connection port:

roscd fixposition_driver/launch/
gedit tcp.yaml

  • Ensure that the ip in the yaml file of the Fixposition is 10.0.1.1. Extra information can be acquired via the formats. For more information on the output data from the Fixposition receiver, please refer to the manual or the Github.

_images/tcp_wifi_yaml.png

  • To launch the node in tcp mode WiFi, run:

roslaunch fixposition_driver tcp.launch