Merge pull request #3 from ethz-asl/feature/update_piksi_baudrate

Fixes: baud rate & IPs
ethz-asl · Dec 14, 2017 · f8f4aa8 · f8f4aa8
2 parents 9d38927 + 7393f4c
commit f8f4aa8
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diff --git a/piksi_multi_rtk_ros/README.md b/piksi_multi_rtk_ros/README.md
@@ -5,6 +5,8 @@ ROS node to read SBP messages from an attached Piksi **Multi** RTK device.
 The piksi_multi_rtk_ros package has been tested under:
   * [ROS] Indigo and Ubuntu 14.04, and [ROS] Kinetic and Ubuntu 16.04;
   * The latest version relies on Piksi Multi Firmware **1.2.14** release (see [Swift Nav firmware page](https://support.swiftnav.com/customer/en/portal/articles/2492784-piksi-multi-and-duro-firmware)).
+
+**WARNING:** default baud rate of the driver is set to '230400' (default baud rate of Piksi Multi is '115200'). This means you have to set your Piksi Multi baud rate correctly by following [these settings instructions](https://github.com/ethz-asl/ethz_piksi_ros/wiki/Installing-and-Configuring-Your-Piksi#settings).
 
 ## Installation and Configuration
 
@@ -25,7 +27,7 @@ source install/install_piksi_multi.sh
 ```
 
 ## Usage
-Make sure you configured your Piksi(s) by following [these instructions](https://github.com/ethz-asl/ethz_piksi_ros/wiki/Installing-and-Configuring-Your-Piksi).
+**Make sure** you configured your Piksi(s) by following [these instructions](https://github.com/ethz-asl/ethz_piksi_ros/wiki/Installing-and-Configuring-Your-Piksi).
 
 **Base station**
 

diff --git a/piksi_multi_rtk_ros/cfg/piksi_multi_driver_settings.yaml b/piksi_multi_rtk_ros/cfg/piksi_multi_driver_settings.yaml
@@ -1,13 +1,13 @@
 # General Settings.
 serial_port: '/dev/ttyUSB0'
-baud_rate: 115200
+baud_rate: 230400
 base_station_mode: false
 debug_mode: false # if true, output every topic read by this driver
 # whenever possible, use network broadcast, not global ip broadcast
 # use ifconfig to show network broadcast (or calculate it yourself....).
-broadcast_addr: 10.10.10.255
+broadcast_addr: 192.168.0.255
 broadcast_port: 26078
-base_station_ip_for_latency_estimation: 10.10.10.1 # ip base station if you want to estimate latency.
+base_station_ip_for_latency_estimation: 192.168.0.1 # ip base station if you want to estimate latency.
 # Coordinate frame of the GPS receiver with respect to the base link.
 navsatfix_frame_id: 'base_link'
 

diff --git a/piksi_multi_rtk_ros/launch/piksi_multi_base_station.launch b/piksi_multi_rtk_ros/launch/piksi_multi_base_station.launch
@@ -8,7 +8,7 @@
 
     <!-- Overwrtie needed settings -->
     <param name="base_station_mode" value="true"/>
-    <param name="broadcast_addr" value="10.10.10.255"/> <!--'ifconfig' to check Bcast -->
+    <param name="broadcast_addr" value="192.168.0.255"/> <!--'ifconfig' to check Bcast -->
   </node>
 
 </launch>
diff --git a/piksi_multi_rtk_ros/package.xml b/piksi_multi_rtk_ros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>piksi_multi_rtk_ros</name>
-  <version>1.0.0</version>
+  <version>1.0.1</version>
   <description>
     ROS driver for Piksi Multi RTK GPS Receiver.
   </description>