Testing Outdoors
The following section assumes you are using Piksi Multi.
If you have already surveyed the Base Station location and it is placed on the exact same spot, you can skip the section "Base Station Survey". Otherwise there are two ways to sample the base station location: Piksi console autosurvey or ROS launch file geodetic survey.
Attach Piksi of the Base Station to your PC and open Piksi Console. Go to "Settings -> surveyed position", click to any field in this section and then click the button on the top right corner "Auto Survey". The last 1000 GPS points will be used to compute the position of the Base Station.
After that, make sure the four fields in "surveyed position" (broadcast, surveyed lat, surveyed lon, surveyed alt) "make sense".
TODO
Once you have surveyed the position of your base tsation yu can start Piksi to the device that will act as base station. Attach Piksi to your PC, log in with ssh, start Piksi driver in base mode and let it run:
roslaunch piksi_multi_rtk_gps piksi_multi_base_station.launch
Tip: you can use the application "screen" and its detach mode. See example below.
ssh <username>@<base_station_ip>
screen
roslaunch piksi_multi_rtk_ros piksi_multi_rover.launch
You can detach from the window using "Ctrl-a", "d". You can close the ssh session and the ROS driver will still run.
When you want to stop it
ssh <username>@<base_station_ip>
screen -r # re-attach to previous session of screen
Stop the node and close screen by typing "Ctrl-a", "k", "y".
Once you started piksi_multi_base_station.launch you can power Piksi on your rover/robot.
An example of launch procedure is given by:
roslaunch piksi_multi_rtk_ros piksi_multi_rover.launch
You can use rqt_gps_rtk_plugin (on your PC, not onboard the rover!) to check the status of your fix (remember to set ROS_MASTER_URI and ROS_IP on your PC, or to use node manager).
roslaunch piksi_multi_rtk_ros gui.launch