content: Add Fixposition Vision-RTK 2 integration for ROS 2

cspell.json

@@ -30,12 +30,14 @@
         "artag",
         "aruco",
         "Balena",
+        "BESTGNSSPOS",
         "BHCS",
         "BLDC",
         "bringup",
         "buehler",
         "Bühler",
         "convolutional",
+        "CORRIMU",
         "CUDA",
         "Dawe",
         "DCMAKE",
@@ -97,7 +99,9 @@
         "picamera",
         "pincherx",
         "pololu",
+        "POIVRTK",
         "Raph",
+        "RAWIMU",
         "Raspicam",
         "realsense",
         "Realtek",
@@ -144,6 +148,7 @@
         "URDF",
         "uros",
         "velodyne",
+        "VRTKCAM",
         "WEIPU",
         "widowx",
         "wlan",

docs/integrations/positioning-systems/fixposition-vision-rtk-2.mdx

@@ -0,0 +1,326 @@
+---
+title: Fixposition Vision-RTK 2 GPS
+sidebar_label: Fixposition Vision-RTK 2 GPS
+keywords:
+  - fixposition
+  - vision
+  - rtk
+  - gps
+  - accurate
+  - leo
+  - integration
+  - Real-Time Kinematic
+  - example
+description: >-
+  Integrate Fixposition's centimeter-level accurate GPS module with Leo Rover to
+  enable unparalleled navigation for research and industry.
+image: /img/robots/leo/integrations/vision-rtk2/leo-with-vision-rtk2.webp
+---
+
+import Powerbox from '@site/src/products/powerbox.mdx';
+import Fixposition from '@site/src/products/fixposition-vision-rtk2.mdx';
+import LiteYouTubeEmbed from 'react-lite-youtube-embed';
+
+{/* TODO add a render or a photo of the rover with the integration */}
+
+This tutorial will guide you through the process of connecting Fixposition
+Vision-RTK 2 to Leo Rover.
+
+Fixposition Vision RTK2 is a great GPS module capable of achieving up-to a
+centimeter-level accuracy. This system leverages Real-TimeKinematic (RTK) and
+vision-based positioning technology to provide precise localization even in
+challenging environments. With its compact design Vision-RTK 2 empowers Leo
+Rover users to navigate with unparalleled accuracy, unlocking new possibilities
+for research, exploration, and industrial applications.
+
+## What to expect?
+
+Your rover will be able to gather accurate GPS data and publish it on these
+[ROS topics](https://docs.fixposition.com/fd/fixposition-ros-driver#FixpositionROSDriver-AvailableROStopics),
+enabling you to use it for navigation and other purposes in your projects.
+
+<div className="video-container">
+  <LiteYouTubeEmbed
+    id="XrSRCy95stA"
+    params="autoplay=0&autohide=1&showinfo=0&rel=0"
+    poster="hqdefault"
+    title="Leo Rover Unboxing and Getting Started"
+    webp
+  />
+</div>
+
+## Prerequisites
+
+<LinkButton
+  to="/leo-rover/guides/connect-to-rover-ap"
+  title="Connect to Leo Rover AP"
+  description="Learn how to connect to your Leo Rover via WiFi."
+/>
+<LinkButton
+  to="/leo-rover/guides/ssh"
+  title="Connect via SSH"
+  description="Learn how to establish an SSH connection with your Leo Rover and access its
+  terminal using Putty or OpenSSH."
+/>
+<LinkButton
+  to="/leo-rover/guides/connect-to-network"
+  title="Connect to Network"
+  description="Learn how to connect your Leo Rover to a Wi-Fi network."
+/>
+<LinkButton
+  to="/leo-rover/guides/software-update"
+  title="Software update"
+  description="Detailed guide on updating the software of Leo Rover, covering steps to access
+  the microSD card, download and flash the latest LeoOS image."
+/>
+<LinkButton
+  to="/leo-rover/advanced-guides/ros-development"
+  title="ROS Development"
+  description="Detailed guide on ROS development for Leo Rover, covering topics like adding
+  additional functionalities, building ROS packages and more."
+/>
+
+### Referenced products
+
+<Fixposition />
+<Powerbox />
+
+## Hardware integration
+
+### Mounting
+
+The module needs to be attached to the rover in a spot that provides an
+uninterrupted view of the terrain. An adapter plate (eg. the one we provide
+[here](../addon-adapters#fixposition-vision-rtk2-adapter)) might be helpful to
+mount the module on the top of the rover.
+
+The accuracy of the system depends on how far apart the GNSS antennas are
+spaced. Since Leo Rover is rather small it might be hard to place them more than
+30cm apart. The system provides a satisfactory accuracy with setup like this,
+but it's not advised to go any closer. If your project allows it, try to
+position the antennas even further apart. It's also a good choice to move the
+GNSS antennas away from any parts of the rover that might be a source of
+electromagnetic interferences (e.g. motors).
+
+<ImageZoom
+  src="/img/robots/leo/integrations/vision-rtk2/leo-with-vision-rtk2.webp"
+  width="1200"
+  height="547"
+/>
+
+### Wiring
+
+The only wire needed for the module to work is a power cable. An external power
+distribution module like our [Powerbox](/leo-rover/addons/powerbox) might come
+in handy in this case.
+
+When using Powerbox, you can connect the Vision RTK-2 power cable to one of the
+BAT ports.
+
+## Software integration
+
+:::info
+
+Before starting the software integration, please make sure that the sensor is
+properly configured. To do that you can complete the
+[quick start guide](https://docs.fixposition.com/fd/quick-start-guide) and
+optionally follow the 4th and 5th chapters of the
+[integration manual](https://docs.fixposition.com/fd/integration-manual).
+
+Few key points that can be helpful during the configuration process:
+
+- Make sure that the sensor's firmware is at least version 2.102.2 or newer. You
+  can check the firmware version in the `system -> info` tab of the web UI,
+  under the `software` field. If you have an older version, please update it
+  following the instructions in the
+  [documentation](https://docs.fixposition.com/fd/updating-software-version).
+- Make sure to remember the sensor's IP address after connecting it to the rover
+  network. You will need it later to configure the ROS driver.
+- Make sure to enable the data flow from the sensor on `TCP0` port in the web UI
+  as this is the port used to communicate with the rover. I/O configuration
+  options can be found in the
+  [I/O section of the documentation](https://docs.fixposition.com/fd/i-o-messages).
+  Recommended minimal options to enable are:
+  - FP_A-ODOMETRY
+  - FP_A-LLH
+  - NOV_B-BESTGNSSPOS_GNSS1
+  - NOV_B-BESTGNSSPOS_GNSS2
+  - FP_A-RAWIMU
+  - FP_A-CORRIMU
+  - FP_A-TF_POIVRTK
+  - FP_A-TF_VRTKCAM
+- For more information refer to the
+  [official documentation](https://docs.fixposition.com/fd/).
+
+:::
+
+### Installing the driver
+
+Having configured the sensor, you can now proceed with installing the
+fixposition driver.
+
+For this task you need to install the fixposition ROS driver into a ROS
+workspace, therefore log in using ssh to the rover, and create a ROS workspace
+if you don't have one already:
+
+```bash
+mkdir -p ~/ros_ws/src
+```
+
+Then ensure that your rover has
+[access to the internet](/leo-rover/guides/connect-to-network) and download the
+GitHub repository with the driver:
+
+```bash
+cd ~/ros_ws/src
+git clone https://github.com/fixposition/fixposition_driver --recurse-submodules
+```
+
+Run the script from the driver repository to pre-configure the driver for
+installation:
+
+```bash
+cd fixposition_driver
+./setup_ros_ws.sh
+```
+
+Now you can install all dependencies:
+
+```bash
+sudo apt update
+sudo apt install git libyaml-cpp-dev libboost-all-dev zlib1g-dev libeigen3-dev linux-libc-dev nlohmann-json3-dev
+cd ~/ros_ws
+rosdep update
+rosdep install --from-paths src -iry
+```
+
+Finally, you can build the workspace:
+
+```bash
+colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF
+```
+
+### Driver configuration
+
+Once the packages are installed, the driver needs to be configured to work
+properly. To edit the configuration files, you can use `nano` or your preferred
+text editor:
+
+```bash
+nano src/fixposition_driver/fixposition_driver_ros2/launch/config.yaml
+```
+
+Once you have the file open, change the `stream` parameter to include the
+sensor's IP address in the rover network. It should look like this:
+
+```yaml title="fixposition_driver/fixposition_driver_ros2/launch/config.yaml"
+stream: tcpcli://<your sensor's IP>:21000
+```
+
+:::note
+
+To avoid creation of numerous ROS topics, you can comment out (using `#`) the
+unnecessary data streams in the `messages` field.
+
+If you want the best performance make sure that the `messages` field corresponds
+to the data streams enabled in the sensor's web UI.
+
+:::
+
+Optionally to enable the driver to use the odometry data from the robot, you can
+modify the `converter` parameters in the same file:
+
+```yaml title="fixposition_driver/fixposition_driver_ros2/launch/config.yaml"
+converter:
+  enabled: true
+  topic_type: 'Odometry' # Supported types: nav_msgs/{Twist, TwistWithCov, Odometry}
+  input_topic: '/merged_odom' # Input topic name
+  scale_factor: 1000.0 # To convert from the original unit of measurement to mm/s (note: this must be a float!)
+  use_x: true # Transmit the x axis of the input velocity
+  use_y: true # Transmit the y axis of the input velocity
+  use_z: false # Transmit the z axis of the input velocity
+```
+
+:::warning
+
+If your robot has a namespace different than the default `/`, you need to
+provide the `input_topic` param with the namespace. Make sure that the provided
+topic name is in the global namespace - starting with `/`, e.g.
+`/namespace/merged_odom`.
+
+:::
+
+### Adding the driver to autostart
+
+The last part of the setup is to add the driver to autostart and make sure that
+the frames published by the driver are connected to Leo Rover's `tf tree`.
+
+Enter the `setup.bash` file of the Rover:
+
+```bash
+nano /etc/ros/setup.bash
+```
+
+Edit this file to source the ROS workspace where the driver is installed.
+Remember to comment out the default ROS setup line and source the custom
+workspace.
+
+```bash title="/etc/ros/setup.bash"
+#source /opt/ros/jazzy/setup.bash
+source ~/ros_ws/install/setup.bash
+```
+
+Now you can edit the launch file that is launched at the robot's startup to
+include the fixposition driver launch file and the static transform publisher
+that will connect the frames published by the driver to the robot:
+
+```bash
+nano /etc/ros/robot.launch.xml
+```
+
+And add these lines somewhere in between the `launch` tag:
+
+```xml title="/etc/ros/robot.launch.xml"
+<include file="$(find-pkg-share fixposition_driver_ros2)/launch/node.launch"/>
+<node pkg="tf2_ros" exec="static_transform_publisher" name="fixposition_broadcaster"
+      args="0 0 0 0 0 0 base_link FP_POI" />
+```
+
+:::note
+
+Replace the `args` in the static transform publisher with the correct values for
+your setup. The example above assumes that the `base_link` frame is in the same
+position as the `FP_POI` frame.
+
+:::
+
+To launch the driver, you can reboot the robot or restart the ROS nodes:
+
+```bash
+ros-nodes-restart
+```
+
+:::tip
+
+To view the ROS nodes logs for debugging purposes, you can use the following
+command:
+
+```bash
+ros-nodes-logs -f
+```
+
+:::
+
+Now you should have the driver up and running, and be able to see the data from
+the sensor in ROS, provided that the sensor has been properly configured and the
+correct data flow has been enabled in the sensor's web UI.
+
+## What's next?
+
+Fixposition Vision-RTK 2 can be used in projects involving
+[autonomous navigation](/leo-rover/advanced-guides/autonomous-navigation). You
+might be interested in a tutorial about it.
+
+You can also deploy long-duration mapping runs to capture centimeter-accurate
+site models or use the data from the sensor to improve the stability of your
+SLAM system.

src/products/fixposition-vision-rtk2.mdx

@@ -0,0 +1,12 @@
+import ProductPreview from '@site/src/components/ProductPreview';
+
+<ProductPreview
+  shopUrl="https://www.leorover.tech/shop/fixposition-vision-rtk-2"
+  imageSrc="/img/robots/leo/integrations/vision-rtk2/leo-with-fixposition-render.webp"
+  width={4000}
+  height={3000}
+  title="Fixposition Vision-RTK 2"
+  description="Multi-sensor RTK GNSS system with integrated vision and IMU, delivering centimeter-level
+    positioning and reliable localization even in GNSS-denied environments. Perfect for enhancing
+    mobile robot autonomy."
+/>

static/_redirects

@@ -64,7 +64,6 @@
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-/integrations/positioning-systems/fixposition-vision-rtk-2 /integrations/noetic/positioning-systems/fixposition-vision-rtk-2 302
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