Two F9P for Yaw

Q&A forumCategory: QuestionsTwo F9P for Yaw
blondiac asked 2 months ago
hello
For the navigation of a rover, I want to use 2 F9P to have a precise direction. I will use RTK correction over 4G in RTCM3 format. I am using an on-board computer in linux and ROS2. The 4G connection must also be used to pilot the rover and is therefore rather on the on-board computer. What can be the ideal configuration with your components? How to connect the components to each other given that the usb ports are very limited. Is it compatible with ROS 2? Thanks
Ardusimple
Staff replied 2 months ago

You can use 2 boards connected to your computer with linux. In this way you have full flexibility on communications.
You will need to add a u-blox parser to the ROS driver. There’s some parsers in the ROS community already.

clive1
replied 2 months ago

>>that the usb ports are very limited
Consider a) using a hub, b) using a dual/quad USB-to-UART

clive1
replied 2 months ago

https://www.retrocution.com/2020/01/15/easy-diy-tiny-usb-hub-for-raspberry-pi-projects/

There are other examples of tiny/nano hubs

clive1
replied 2 months ago

https://portal.u-blox.com/s/question/0D52p0000AF3YSjCQN/not-receiving-rtcm-on-uart2-ardusimple-f9p

In the Arduino sense the units can be stacked, and the UART2 feed taken from RX2
If using the XBee you’d want the radio on the Primary Unit

blondiac
replied 2 months ago

Thanks Clive for your feedback.
This is indeed all the difficulty that I imagine.
I will receive the correction from 4G which will be accessible from my linux ROS computer. I will not be using xbee radio.
I think is the same difficulty with simpleRTK2B+heading – Basic Starter Kit ?
I find it difficult to surrender against difficulties that I will encounter without having to try.
For you in any case is it possible?

clive1
replied 2 months ago

Well you might need to recruit people into your team that can do the ROS coding/integration work and do the plumbing for the data, both from the BASE/NTRIP source, and the dual configuration of the ZED-F9P/ArduSimple boards.

Without some strong SW/HW skills it’s probably going to be challenging, but a solution is clearly possible.

The data flow and expectations aren’t hard concepts. If need be get some training.

https://www.u-blox.com/en/docs/UBX-19009093

The RTCM3 data can use any of the interfaces (UART1, UART2, SPI, I2C, USB) between unit you can either manage it through Linux, or use hard connections on UART2 for a low latency, low complication approach.