Add INS sensors, Fixposition XVN/Vision-RTK2 (#328)

civerachb-cpr · web-flow · commit 7f8818bf4d39 · 2025-03-27T12:33:59.000-04:00
* Bulk rename references to `ros2humble` in the `jazzy` directory to point to their `ros2jazzy` equivalents. Add a new page for the INS sensor array. Add a page for the Fixposition XVN configuration

* Fill out the XVN configuration, add INS sensor topics to the API

* Add odometry topic to the core INS sensors api
diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/fixposition_xvn.mdx b/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/fixposition_xvn.mdx
@@ -0,0 +1,70 @@
+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/fixposition_xvn.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+ins:
+  - model: fixposition
+    urdf_enabled: true
+    launch_enabled: true
+    parent: default_mount
+    xyz: [0.0, 0.0, 0.0]
+    rpy: [0.0, 0.0, 0.0]
+    ip: 192.168.131.35
+    port: "21001"
+    antennas:
+      - type: spherical
+        parent: base_link
+        xyz: [0.0, 0.0, 0.0]
+        rpy: [0.0, 0.0, 0.0]
+      - type: spherical
+        parent: base_link
+        xyz: [0.0, 0.0, 0.0]
+        rpy: [0.0, 0.0, 0.0]
+    ros_parameters:
+      fixposition_driver:
+        fp_output:
+          formats:
+            - ODOMETRY
+            - LLH
+            - RAWIMU
+            - CORRIMU
+          rate: 200
+          type: tcp
+          reconnect: 5
+        customer_input:
+          speed_topic: "xvn/speed"
+          rtcm_topic: "xvn/rtcm"
+```
+</td>
+</tr>
+</table>
+
+#### Package and Setup
+
+The Fixposition Vision-RTK2 (formerly Fixposition XVN) uses the `fixposition_driver_ros2` ROS 2 driver, maintained by
+Fixposition. The driver is open-source and hosted on [GitHub](https://github.com/fixposition/fixposition_driver).
+
+The ROS 2 driver must be built from source, following [these instructions](https://docs.fixposition.com/fd/installation-and-usage).
+
+For specifics on the way Clearpath's configuration system launches the `fixposition_driver_ros2`,
+see the Fixposition [launch file](https://github.com/clearpathrobotics/clearpath_robot/blob/jazzy/clearpath_sensors/launch/fixposition.launch.py)
+and the [default parameter file](https://github.com/clearpathrobotics/clearpath_robot/blob/jazzy/clearpath_sensors/config/fixposition.yaml)
+in `clearpath_sensors`.
+
+#### Antenna configuration
+
+The Fixposition Vision-RTK2 requires two GNSS antennas. The position and type of each antenna
+is defined in the `antennas` array. Each `antenna` instance may contain the following attributes:
+
+- `type`: the shape of the antenna: `spherical` (default), `helical`, or `patch`
+- `parent`: the parent link of the antenna in the URDF. `default_mount` if unspecified
+- `xyz`: the XYZ offset from the `parent` link to the antenna's mounting point
+- `rpy`: the RPY offset relative to the `parent` link
diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/img/fixposition_xvn.png b/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/img/fixposition_xvn.png
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/api/sensors_api.mdx b/docs_versioned_docs/version-ros2jazzy/ros/api/sensors_api.mdx
@@ -45,6 +45,15 @@ each new sensor of that type that is added. Internal sensors such as IMU's will
 | sensors/imu\_#/data     | [sensor_msgs/Imu](https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/Imu.msg)                     | Filtered IMU orientation, angular velocity, and linear acceleration data | [System Default](overview.mdx#system-default) |
 | sensors/imu\_#/mag      | [sensor_msgs/MagneticField](https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/MagneticField.msg) | IMU magnetic field data                                                  | [System Default](overview.mdx#system-default) |
 
+## INS topics
+
+| Topic                     | Message type                                                                                                | Description                                                              | QoS                                     |
+| :------------------------ | :---------------------------------------------------------------------------------------------------------- | :----------------------------------------------------------------------- | :-------------------------------------- |
+| sensors/ins\_#/imu_0/data | [sensor_msgs/Imu](https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/Imu.msg)             | Raw IMU orientation, angular velocity, and linear acceleration data      | [Sensor Data](overview.mdx#sensor-data) |
+| sensors/ins\_#/gps_0/fix  | [sensor_msgs/NavSatFix](https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/NavSatFix.msg) | Navsat Fix information from the first receiver (if present)              | [Sensor Data](overview.mdx#sensor-data) |
+| sensors/ins\_#/gps_1/fix  | [sensor_msgs/NavSatFix](https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/NavSatFix.msg) | Navsat Fix information from the second receiver (if present)             | [Sensor Data](overview.mdx#sensor-data) |
+| sensors/ins\_#/odom       | [nav_msgs/Odometry](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Odometry.msg)         | Odometry data derived from all inputs to the INS                         | [Sensor Data](overview.mdx#sensor-data) |
+
 ## GPS topics
 
 | Topic              | Message type                                                                                                 | Description            | QoS                                           |
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/links.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/links.mdx
@@ -5,11 +5,11 @@ sidebar_position: 5
 toc_min_heading_level: 2
 toc_max_heading_level: 4
 ---
-import LinkFrame from "/docs_versioned_docs/version-ros2humble/components/yaml/links/frame.mdx";
-import Box from "/docs_versioned_docs/version-ros2humble/components/yaml/links/box.mdx";
-import Cylinder from "/docs_versioned_docs/version-ros2humble/components/yaml/links/cylinder.mdx";
-import Mesh from "/docs_versioned_docs/version-ros2humble/components/yaml/links/mesh.mdx";
-import Sphere from "/docs_versioned_docs/version-ros2humble/components/yaml/links/sphere.mdx";
+import LinkFrame from "/docs_versioned_docs/version-ros2jazzy/components/yaml/links/frame.mdx";
+import Box from "/docs_versioned_docs/version-ros2jazzy/components/yaml/links/box.mdx";
+import Cylinder from "/docs_versioned_docs/version-ros2jazzy/components/yaml/links/cylinder.mdx";
+import Mesh from "/docs_versioned_docs/version-ros2jazzy/components/yaml/links/mesh.mdx";
+import Sphere from "/docs_versioned_docs/version-ros2jazzy/components/yaml/links/sphere.mdx";
 
 Links are any URDF primitive.
 :::tip keep the frames in mind:
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/manipulators.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/manipulators.mdx
@@ -5,13 +5,13 @@ sidebar_position: 8
 toc_min_heading_level: 2
 toc_max_heading_level: 4
 ---
-import KinovaGen3Lite from "/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/kinova_gen3_lite.mdx";
-import KinovaGen36Dof from "/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/kinova_gen3_6dof.mdx";
-import KinovaGen37Dof from "/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/kinova_gen3_7dof.mdx";
-import Kinova2FLite from "/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/kinova_2f_lite.mdx";
-import Robotiq2F85 from "/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/robotiq_2f_85.mdx";
-import Robotiq2F140 from "/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/robotiq_2f_140.mdx";
-import UniversalRobots from "/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/universal_robots.mdx";
+import KinovaGen3Lite from "/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/kinova_gen3_lite.mdx";
+import KinovaGen36Dof from "/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/kinova_gen3_6dof.mdx";
+import KinovaGen37Dof from "/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/kinova_gen3_7dof.mdx";
+import Kinova2FLite from "/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/kinova_2f_lite.mdx";
+import Robotiq2F85 from "/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/robotiq_2f_85.mdx";
+import Robotiq2F140 from "/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/robotiq_2f_140.mdx";
+import UniversalRobots from "/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/universal_robots.mdx";
 
 
 Manipulators include all robotic arms and grippers. Unlike sensors, manipulators are not controlled by external drivers. Instead, a hardware controller must be loaded into the controller manager to handle the joint interface to move the specific manipulator joints.
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/mounts.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/mounts.mdx
@@ -5,20 +5,20 @@ sidebar_position: 6
 toc_min_heading_level: 2
 toc_max_heading_level: 4
 ---
-import BracketHorizontal from "/docs_versioned_docs/version-ros2humble/components/yaml/mounts/bracket_horizontal.mdx";
-import BracketLarge from "/docs_versioned_docs/version-ros2humble/components/yaml/mounts/bracket_large.mdx";
-import BracketVertical from "/docs_versioned_docs/version-ros2humble/components/yaml/mounts/bracket_vertical.mdx";
-import DiskPost from "/docs_versioned_docs/version-ros2humble/components/yaml/mounts/disk_post.mdx";
-import Disk from "/docs_versioned_docs/version-ros2humble/components/yaml/mounts/disk.mdx";
-import FathPivot from "/docs_versioned_docs/version-ros2humble/components/yaml/mounts/fath_pivot.mdx";
-import PostDual from "/docs_versioned_docs/version-ros2humble/components/yaml/mounts/post_dual.mdx";
-import PostQuad from "/docs_versioned_docs/version-ros2humble/components/yaml/mounts/post_quad.mdx";
-import PostSingle from "/docs_versioned_docs/version-ros2humble/components/yaml/mounts/post_single.mdx";
-import Riser1x7 from "/docs_versioned_docs/version-ros2humble/components/yaml/mounts/riser_1x7.mdx";
-import Riser4x4 from "/docs_versioned_docs/version-ros2humble/components/yaml/mounts/riser_4x4.mdx";
-import Riser8x7 from "/docs_versioned_docs/version-ros2humble/components/yaml/mounts/riser_8x7.mdx";
-import SickInverted from "/docs_versioned_docs/version-ros2humble/components/yaml/mounts/sick_inverted.mdx";
-import SickUpright from "/docs_versioned_docs/version-ros2humble/components/yaml/mounts/sick_upright.mdx";
+import BracketHorizontal from "/docs_versioned_docs/version-ros2jazzy/components/yaml/mounts/bracket_horizontal.mdx";
+import BracketLarge from "/docs_versioned_docs/version-ros2jazzy/components/yaml/mounts/bracket_large.mdx";
+import BracketVertical from "/docs_versioned_docs/version-ros2jazzy/components/yaml/mounts/bracket_vertical.mdx";
+import DiskPost from "/docs_versioned_docs/version-ros2jazzy/components/yaml/mounts/disk_post.mdx";
+import Disk from "/docs_versioned_docs/version-ros2jazzy/components/yaml/mounts/disk.mdx";
+import FathPivot from "/docs_versioned_docs/version-ros2jazzy/components/yaml/mounts/fath_pivot.mdx";
+import PostDual from "/docs_versioned_docs/version-ros2jazzy/components/yaml/mounts/post_dual.mdx";
+import PostQuad from "/docs_versioned_docs/version-ros2jazzy/components/yaml/mounts/post_quad.mdx";
+import PostSingle from "/docs_versioned_docs/version-ros2jazzy/components/yaml/mounts/post_single.mdx";
+import Riser1x7 from "/docs_versioned_docs/version-ros2jazzy/components/yaml/mounts/riser_1x7.mdx";
+import Riser4x4 from "/docs_versioned_docs/version-ros2jazzy/components/yaml/mounts/riser_4x4.mdx";
+import Riser8x7 from "/docs_versioned_docs/version-ros2jazzy/components/yaml/mounts/riser_8x7.mdx";
+import SickInverted from "/docs_versioned_docs/version-ros2jazzy/components/yaml/mounts/sick_inverted.mdx";
+import SickUpright from "/docs_versioned_docs/version-ros2jazzy/components/yaml/mounts/sick_upright.mdx";
 
 Most sensors can use similar mounting structures. Therefore, we want to keep mounts separate from sensors, such that users could attach their own sensors to existing mounts.
 
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/a200.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/a200.mdx
@@ -5,12 +5,12 @@ sidebar_position: 2
 toc_min_heading_level: 2
 toc_max_heading_level: 5
 ---
-import A200Bumper from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/bumper.mdx";
-import A200SensorArch300 from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/sensor_arch_300.mdx";
-import A200SensorArch510 from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/sensor_arch_510.mdx";
-import A200TopPlateDefault from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/top_plate_default.mdx";
-import A200TopPlateLarge from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/top_plate_large.mdx";
-import A200TopPlatePACS from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/top_plate_pacs.mdx";
+import A200Bumper from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a200/bumper.mdx";
+import A200SensorArch300 from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a200/sensor_arch_300.mdx";
+import A200SensorArch510 from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a200/sensor_arch_510.mdx";
+import A200TopPlateDefault from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a200/top_plate_default.mdx";
+import A200TopPlateLarge from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a200/top_plate_large.mdx";
+import A200TopPlatePACS from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a200/top_plate_pacs.mdx";
 import A200ObserverBackpack from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a200/observer_backpack.mdx";
 
 ## Bumper
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/dx1X0.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/dx1X0.mdx
@@ -5,7 +5,7 @@ sidebar_position: 5
 toc_min_heading_level: 2
 toc_max_heading_level: 5
 ---
-import DX1X0TopPlate from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/dx1X0/top_plate.mdx";
+import DX1X0TopPlate from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/dx1X0/top_plate.mdx";
 
 ## Top Plate
 <DX1X0TopPlate/>
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/j100.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/j100.mdx
@@ -5,9 +5,9 @@ sidebar_position: 3
 toc_min_heading_level: 2
 toc_max_heading_level: 5
 ---
-import J100FenderDefault from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/j100/fender_default.mdx";
-import J100FenderSensor from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/j100/fender_sensor.mdx";
-import J100TopPlateArkEnclosure from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/j100/top_plate_ark_enclosure.mdx";
+import J100FenderDefault from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/j100/fender_default.mdx";
+import J100FenderSensor from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/j100/fender_sensor.mdx";
+import J100TopPlateArkEnclosure from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/j100/top_plate_ark_enclosure.mdx";
 
 ## Fenders
 There are two types of fenders that can be equipped on the **J100** platform.
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/r100.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/r100.mdx
@@ -5,9 +5,9 @@ sidebar_position: 6
 toc_min_heading_level: 2
 toc_max_heading_level: 5
 ---
-import R100FAMS from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/r100/fams.mdx";
-import R100HAMS from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/r100/hams.mdx";
-import R100Tower from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/r100/tower.mdx";
+import R100FAMS from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/r100/fams.mdx";
+import R100HAMS from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/r100/hams.mdx";
+import R100Tower from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/r100/tower.mdx";
 
 ## Flat Arm Mounting Structure (FAMS)
 <R100FAMS/>
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/w200.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/w200.mdx
@@ -5,10 +5,10 @@ sidebar_position: 4
 toc_min_heading_level: 2
 toc_max_heading_level: 5
 ---
-import W200ArmMount from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/w200/arm_mount.mdx";
-import W200BulkheadArmMount from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/w200/bulkhead_arm_mount.mdx";
-import W200BulkheadDefault from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/w200/bulkhead_default.mdx";
-import W200Generator from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/w200/generator.mdx";
+import W200ArmMount from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/w200/arm_mount.mdx";
+import W200BulkheadArmMount from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/w200/bulkhead_arm_mount.mdx";
+import W200BulkheadDefault from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/w200/bulkhead_default.mdx";
+import W200Generator from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/w200/generator.mdx";
 
 ## Bulkhead
 The Warthog bulkhead is used to cover payloads and to add a second surface to which to attach more payloads.
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/cameras.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/cameras.mdx
@@ -5,11 +5,11 @@ sidebar_position: 2
 toc_min_heading_level: 2
 toc_max_heading_level: 5
 ---
-import AxisCamera from "/docs_versioned_docs/version-ros2humble/components/yaml/sensors/axis_camera.mdx";
-import FlirBlackfly from "/docs_versioned_docs/version-ros2humble/components/yaml/sensors/flir_blackfly.mdx";
-import IntelRealsense from "/docs_versioned_docs/version-ros2humble/components/yaml/sensors/intel_realsense.mdx";
-import LuixonisOAKD from "/docs_versioned_docs/version-ros2humble/components/yaml/sensors/luxonis_oakd.mdx";
-import StereolabsZed from "/docs_versioned_docs/version-ros2humble/components/yaml/sensors/stereolabs_zed.mdx";
+import AxisCamera from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/axis_camera.mdx";
+import FlirBlackfly from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/flir_blackfly.mdx";
+import IntelRealsense from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/intel_realsense.mdx";
+import LuixonisOAKD from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/luxonis_oakd.mdx";
+import StereolabsZed from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/stereolabs_zed.mdx";
 
 Cameras are sensors that publish:
  - Messages of type `sensor_msgs/Image` to the `/sensors/camera_#/color/image` topic.
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/gps.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/gps.mdx
@@ -5,12 +5,12 @@ sidebar_position: 3
 toc_min_heading_level: 2
 toc_max_heading_level: 4
 ---
-import Garmin18x from "/docs_versioned_docs/version-ros2humble/components/yaml/sensors/garmin_18x.mdx";
-import NovatelSmart6 from "/docs_versioned_docs/version-ros2humble/components/yaml/sensors/novatel_smart6.mdx";
-import NovatelSmart7 from "/docs_versioned_docs/version-ros2humble/components/yaml/sensors/novatel_smart7.mdx";
-import SwiftNavDuro from "/docs_versioned_docs/version-ros2humble/components/yaml/sensors/swiftnav_duro.mdx";
+import Garmin18x from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/garmin_18x.mdx";
+import NovatelSmart6 from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/novatel_smart6.mdx";
+import NovatelSmart7 from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/novatel_smart7.mdx";
+import SwiftNavDuro from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/swiftnav_duro.mdx";
 
-GPS receivers are all devices that publish a `sensor_msgs/NavSatFix` message, which provides a latitude and longitude position.
+GPS (aka: GNSS) receivers are all devices that publish a `sensor_msgs/NavSatFix` message, which provides a latitude and longitude position.
 
 ### SwiftNav Duro
 <SwiftNavDuro/>
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/imu.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/imu.mdx
@@ -1,13 +1,13 @@
 ---
 title: Inertial Measurment Units
 sidebar_label: IMU
-sidebar_position: 3
+sidebar_position: 4
 toc_min_heading_level: 2
 toc_max_heading_level: 4
 ---
-import CHRoboticsUM6 from "/docs_versioned_docs/version-ros2humble/components/yaml/sensors/chrobotics_um6.mdx";
-import RedShiftUM7 from "/docs_versioned_docs/version-ros2humble/components/yaml/sensors/redshift_um7.mdx";
-import MicrostrainIMU from "/docs_versioned_docs/version-ros2humble/components/yaml/sensors/microstrain_imu.mdx";
+import CHRoboticsUM6 from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/chrobotics_um6.mdx";
+import RedShiftUM7 from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/redshift_um7.mdx";
+import MicrostrainIMU from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/microstrain_imu.mdx";
 
 Inertial measurement units are sensors that publish messages of the type `sensor_msgs/Imu`. These messages contain orientation, angular velocity, and/or linear acceleration depending on the device.
 
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/ins.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/ins.mdx
@@ -0,0 +1,18 @@
+---
+title: Inertial Navigation Systems
+sidebar_label: INS
+sidebar_position: 5
+toc_min_heading_level: 2
+toc_max_heading_level: 4
+---
+import FixpositionXVN from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/fixposition_xvn.mdx";
+
+Inertial Navigation Systems (INS) compute and provide position, orientation and velocity data. They
+can be augmented with GNSS and/or visual data for more precise outputs.
+
+INS may publish a variety of data, including `sensor_msgs/msg/Imu`,
+`sensor_msgs/msg/NavSatFix`, and `nav_msgs/msg/Odometry` types.
+
+### Fixposition Vision-RTK 2
+
+<FixpositionXVN/>
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/lidar2d.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/lidar2d.mdx
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/lidar3d.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/lidar3d.mdx
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/networking/overview.mdx b/docs_versioned_docs/version-ros2jazzy/ros/networking/overview.mdx
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/networking/ros2-networking.mdx b/docs_versioned_docs/version-ros2jazzy/ros/networking/ros2-networking.mdx
