Fixposition Operation
=====================

.. image:: media/pictures/fp_husky_Clear.png
    :width: 90%
    :align: center

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:

.. code:: bash

    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.

.. image:: media/pictures/serial_yaml.jpg
    :width: 90%
    :align: center

- To launch the node in serial mode, run:

.. code:: bash

    roslaunch fixposition_driver serial.launch


Fixposition WiFi
----------------

- Configure the connection port:

.. code:: bash

    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.

.. image:: media/pictures/tcp_wifi_yaml.jpg
    :width: 90%
    :align: center

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

.. code:: bash
    
    roslaunch fixposition_driver tcp.launch


Fixposition LAN (Recommended)
-----------------------------

- Configure the connection port:

.. code:: bash

    roscd fixposition_driver/launch/
    gedit tcp.yaml

- Ensure that the ip in the ``yaml file`` of the Fixposition is ``10.0.2.1``. 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.

.. image:: media/pictures/tcp_yaml.jpg
    :width: 90%
    :align: center

- To launch the node in tcp mode LAN, run:

.. code:: bash
    
    roslaunch fixposition_driver tcp.launch

.. important:: 

    Further configuration information is provided in the user integration manual. This manual comes with the 
    Fixposition device. Incase the manual is not available, please request from info@fixposition.com