The ROS2 driver connects successfully to the sensor over TCP, all topics are advertised, but:
The Fixposition Ethernet interface was configured via the web UI (accessed over USB at http://10.0.3.1):
No errors or warnings after connection — driver appears healthy.
nc 10.15.20.20 21000
$FP,ODOMETRY,2,2415,217480.700000,,,,,,,,,,,,,,,,,0,0,5,1,-1,,,,,,,,,,,,,,,,,,,fp_vrtk2-release-vr2_2.123.5-5*43
$FP,ODOMSTATUS,1,2415,217480.700000,0,2,0,0,0,1,,0,,,,,,0,1,0,0,0,1,0,5,,0,6,,,,,,,,,,,,*29
$FP,ODOMETRY,2,2415,217480.800000,,,,,,,,,,,,,,,,,0,0,5,1,-1,,,,,,,,,,,,,,,,,,,fp_vrtk2-release-vr2_2.123.5-5*4C
$FP,ODOMSTATUS,1,2415,217480.800000,0,2,0,0,0,1,,0,,,,,,0,1,0,0,0,1,0,5,,0,6,,,,,,,,,,,,*26
$FP,ODOMETRY,2,2415,217480.900000,,,,,,,,,,,,,,,,,0,0,5,1,-1,,,,,,,,,,,,,,,,,,,fp_vrtk2-release-vr2_2.123.5-5*4D
$FP,ODOMSTATUS,1,2415,217480.900000,0,2,0,0,0,1,,0,,,,,,0,1,0,0,0,1,0,5,,0,6,,,,,,,,,,,,*27
$FP,TF,2,2415,217481.000000,VRTK,CAM,0.04333,0.00075,-0.00813,0.501606,0.499660,0.499165,0.499566*60
$FP,TF,2,2415,217481.000000,POI,VRTK,-0.00000,-0.00000,-0.00000,1.000000,0.000000,0.000000,0.000000*70
$FP,ODOMETRY,2,2415,217481.000000,,,,,,,,,,,,,,,,,0,0,5,1,-1,,,,,,,,,,,,,,,,,,,fp_vrtk2-release-vr2_2.123.5-5*45
$FP,ODOMSTATUS,1,2415,217481.000000,0,2,0,0,0,1,,0,,,,,,0,1,0,0,0,1,0,5,,0,6,,,,,,,,,,,,*2F
$FP,ODOMETRY,2,2415,217481.100000,,,,,,,,,,,,,,,,,0,0,5,1,-1,,,,,,,,,,,,,,,,,,,fp_vrtk2-release-vr2_2.123.5-5*44
$FP,ODOMSTATUS,1,2415,217481.100000,0,2,0,0,0,1,,0,,,,,,0,1,0,0,0,1,0,5,,0,6,,,,,,,,,,,,*2E
$FP,ODOMETRY,2,2415,217481.200000,,,,,,,,,,,,,,,,,0,0,5,1,-1,,,,,,,,,,,,,,,,,,,fp_vrtk2-release-vr2_2.123.5-5*47
$FP,ODOMSTATUS,1,2415,217481.200000,0,2,0,0,0,1,,0,,,,,,0,1,0,0,0,1,0,5,,0,6,,,,,,,,,,,,*2D
Fixposition Vision-RTK 2 — Support Issue Report
System Overview
fp_vrtk2-release-vr2_2.123.5-521fp-fe76e6 (NAV_VR2 v1.4b)network_mode: host)tcpcli://10.15.20.20:2100010.15.20.20/24, Gateway10.15.20.110.15.20.x)Problem Summary
The ROS2 driver connects successfully to the sensor over TCP, all topics are advertised, but:
ros2 topic echo /fixposition/gnss1→ no output)/fixposition/fpa/rawimu,/fixposition/fpa/corrimu)Note: The web UI GNSS Status page confirms both GNSS receivers have a valid
Single 3Dfix with 18 and 13 satellites respectively. We therefore expect/fixposition/gnss1and/fixposition/gnss2to publish data — but they do not. This is the core issue.What Was Done
Installation
Following the official guide at https://docs.fixposition.com/fd/installation-and-usage:
sudo apt update sudo apt install git libyaml-cpp-dev libboost-all-dev zlib1g-dev \ libeigen3-dev linux-libc-dev nlohmann-json3-devDriver built and deployed in Docker with
network_mode: host.Ethernet Configuration
The Fixposition Ethernet interface was configured via the web UI (accessed over USB at
http://10.0.3.1):static-ip10.15.20.20/2410.15.20.1Driver Config (
config.yaml)All standard messages enabled including
FP_A-ODOMETRY,FP_A-RAWIMU,FP_A-CORRIMU,FP_A-LLH, NMEA messages, etc.Driver Logs (successful connection)
No errors or warnings after connection — driver appears healthy.
ROS2 Topic List
IMU Topic Output (all zeros)
Observed Status in Web UI
GNSS Status (
Status > GNSS)Both receivers are working and seeing satellites:
Raw GNSS is healthy ✅
We checked with NTRIP connection and they showed status fix ✅
Checking directly on port:
Questions for Support
Single 3Dfix in the web UI. Should/fixposition/gnss1and/fixposition/gnss2publish data via the ROS2 driver? If yes, why are these topics empty?nc 10.15.20.20 21000. Why does the ROS2 driver not publish any topics despite a successful connection?2.123.5— what driver version is required?network_mode: host) on ROS2 Jazzy?