Step 3.3: Configure ROS

Step 3.3.1: Configure ROS Parameters

The ROS parameters can be configured using similar to the environment above. Simply run the openmower configure ros command and set the parameters as needed.

For a first setup, you can leave the default values for most parameters.

You need to set the following parameters:

• gps/baud_rate: The baud rate of the GPS module. If you are using the Ardusimple GPS with the provided configuration file, leave it at 921600.
• gps/protocol: The GPS protocol used. If you are using the Ardusimple GPS with the provided configuration file, leave it at “UBX”.
• gps/datum_lat, gps/datum_long: Use coordinates close to where you will setup your docking station. Tip: Open Google Maps and right-click on any location to get the coordinates. It should be within a few meters of the dock, no need to be ultra precise here.
• ntrip_client/*: Set the NTRIP parameters for your GPS base station.