GPS Setup and Configuration

[cooperj]

Description

Spot has been installed with a Holybro F9P GPS sensor.

Some basic drivers have been configured, but this seems to not be working. Follow the instructions below and then test the following things:

• Can you get a GPS fix?
• Can you get the GPS to work on the Docker container start?
• Install U-blox centre (or pygpsclient) in the container
• Can we get Spot to move to a specific GPS location
• Can you get it connected to the RTK GPS Base station
• • If so, how can we configure it via ENV etc? (intended use, taking spot to a field and using a portable RTK base versus the one at Riseholme)

Additional Information

Inside the src folder we have added gokulp01/ros2-ublox-zedf9p/. This is automatically installed and setup with the container.

You will then need to open a terminal either on code-server or vnc and run the command:

ros2 launch ublox_gps ublox_gps_node_zedf9p-launch.py

This will then provide the /fix/ topic.