5.11. ROS driver installation
Please visit https://github.com/fixposition/fixposition_driver for more informa-
tion. From FW 2.63, both ROS1 and ROS2 are supported. The ROS driver version should
be compatible with its corresponding software release version.
The Fixposition ROS driver operating as a ROS node can listen to any I/O port to get
outputs from the Vision-RTK 2 and then publish them in the ROS network. The user can
directly stream the wheelspeed information via CAN/TCP/UART into the Vision-RTK 2.
They can also fill in the X-directional velocity information from any resources into a ROS
message and then publish it inside the ROS network so that the Fixposition ROS driver
can subscribe to this information and convert it to NOV-B_RAWDMI (binary data).
Finally, this binary information will be streamed into the Fusion engine to improve local-
ization performance. An extra node called Fixposition Odometry Converter is provided to
help integrate the wheelspeed on your vehicle. This node is intended to be used as mid-
dleware if you already have a topic with the wheelspeed values running on your system.
Currently, messages of the type Twist, TwistWithCov and Odometry are accepted.
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Figure 5.27.: ROS driver of Vision-RTK 2 from Fixposition in Github
Vision-RTK 2 | Fixposition Positioning Sensor 41
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