EMLID REACH RS2

Emlid REACH RS2

Requirements

  • EMLID REACH RS2
  • Internet connection

Procedure

  1. Connect to the Emlid via it’s WiFi hotspot.
    • SSID: Reach
    • Password: emlidreach
  2. Install the ReachView 3 app on the playstore.
    • Setup Reach on the available connections once available.
    • Provide internet connection to the emlid.
    • Reconnect to it in the app.
  3. Rename and setup configuration

Enabling Precision Mode

  1. Goto the provided Emlid’s Reach panel for configuring high precision mode.
  2. Get access to NTRIP connection which can be done by contacting your nearest receivers station.
  3. In the Emlid Reach Panel go to the RTK settings.
    • Set position mode to kinematic.
    • Set elevation mask angle to 15 degrees.
    • Set SNR mask to 35.
    • Select all GNSS options.
    • Set update rate at 5hz.
  4. Goto the correction input tab in the Reach panel and select NTRIP.
    • Fill in the information provided by your receiving station i.e.
      • ip address
      • port
      • username
      • password
      • mount point (Usually detected automatically)
      • Select send NMEA GGA messages to enable correction.
  5. In base mode in you can set the base coordinated data accumulation time to 1 minute.
  6. Verify in the status of the reach panel whether green as well as grey bars appear, indicating successful correction.

Adding REACH RS2 ROS Driver

  1. All prior steps are required. Clone the following git repo, to your catkin workspace and build it:
cd catkin_ws/src
git clone https://github.com/enwaytech/reach_rs_ros_driver
catkin build
  1. Add to your launch file:
<node pkg="reach_rs_driver" type="reach_rs_driver_node" name="reach_rs_driver_node">
     <param name="reach_rs_host_or_ip" value="{emlid ip address}"/>
     <param name="reach_rs_port" value="9001"/>
</node>
  1. Goto the position output tab in the reach panel and change the output to TCP along with message type being NMEA.