> For the complete documentation index, see [llms.txt](https://docs.rtkdata.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.rtkdata.com/integration-hub/robotics/clearpath-outdoornav.md). # Clearpath OutdoorNav RTK Setup: Husky A300 & Jackal NTRIP Set up RTKdata NTRIP corrections for Clearpath OutdoorNav on Husky A300 and Jackal: XVN UI settings, Position set to Automatic for GGA, Fusion restart. **Clearpath OutdoorNav** 2.x localizes the robot with the **XVN** (Xsens Vision Navigator), which Clearpath identifies as the Fixposition Vision-RTK 2, and Clearpath states: "RTK corrections are required in order for the XVN to output a localization." To connect a Husky A300 or Jackal with OutdoorNav to RTKdata, open the OutdoorNav UI, click one of the GNSS status indicators (**POS**, **DIR** or **FUS**) and then **Open XVN UI**. In the XVN UI, stop the fusion under **Status** > **Fusion** with **Stop**, open **Configuration** > **GNSS** and, on the **Correction data** card, set **Source** to **NTRIP client (auto)**, enter your RTK credentials in **User** and **Password**, the RTKdata host for your region in **Host** (`rtk.rtkdata.com` for North America, `eu.rtkdata.com` for Europe or `aus.rtkdata.com` for Australia), `2101` in **Port** and `AUTO` in **Mountpoint**, set **Position** to **Automatic**, click **Save and apply** and start the fusion again with **Start**. The XVN connects to RTKdata itself: no ROS node and no change to `robot.yaml` are needed. The steps follow Clearpath's OutdoorNav 2.3.0 Getting Started guide (last updated June 2026) and the XVN labels in the Fixposition Vision-RTK 2 Integration Manual v2.3.1, which Clearpath links as the user manual of the sensor. Labels can differ in other versions. Clearpath's text names the button "Save & Apply"; in the XVN UI it reads **Save and apply**. {% hint style="warning" %} **Stop the fusion before you change the XVN settings.** While the fusion runs, the XVN UI does not save changes, according to Fixposition. Stop it under **Status** > **Fusion** with **Stop**, change and save the settings, and start it again with **Start** once the corrections arrive. {% endhint %} These are the values you enter on the **Correction data** card under **Configuration** > **GNSS**, and the field names in bold match the XVN UI. Choose the server closest to where the robot works. All three servers share the same base station network; the difference is routing latency, see [NTRIP Server Settings](/get-started/network.md). {% tabs %} {% tab title="North America" %} * **Host (domain)** in **Host**: `rtk.rtkdata.com` * **Host (IP fallback):** `13.56.117.10`, only if the hostname does not resolve or does not connect * **Port:** `2101`, in **Port** * **Username / Password:** From *RTK Credentials* in your [account dashboard](https://rtkdata.com/my-account/rtk-credentials/), not your website login, in **User** and **Password** * **Mountpoint (ALL CAPS):** `AUTO` (recommended), or `AUTO_WGS84`, `AUTO_ITRF2020`, `AUTO_ITRF2014`, in **Mountpoint** {% endtab %} {% tab title="Europe" %} * **Host (domain)** in **Host**: `eu.rtkdata.com` * **Host (IP fallback):** `3.73.41.96`, only if the hostname does not resolve or does not connect * **Port:** `2101`, in **Port** * **Username / Password:** From *RTK Credentials* in your [account dashboard](https://rtkdata.com/my-account/rtk-credentials/), not your website login, in **User** and **Password** * **Mountpoint (ALL CAPS):** `AUTO` (recommended), or `AUTO_WGS84`, `AUTO_ITRF2020`, `AUTO_ITRF2014`, in **Mountpoint** {% endtab %} {% tab title="Australia" %} * **Host (domain)** in **Host**: `aus.rtkdata.com` * **Host (IP fallback):** `54.206.56.130`, only if the hostname does not resolve or does not connect * **Port:** `2101`, in **Port** * **Username / Password:** From *RTK Credentials* in your [account dashboard](https://rtkdata.com/my-account/rtk-credentials/), not your website login, in **User** and **Password** * **Mountpoint (ALL CAPS):** `AUTO` (recommended), or `AUTO_WGS84`, `AUTO_ITRF2020`, `AUTO_ITRF2014`, in **Mountpoint** {% endtab %} {% endtabs %} | Field | Value | | ----------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | **Source** | **NTRIP client (auto)** | | **User** | From *RTK Credentials* in your [account dashboard](https://rtkdata.com/my-account/rtk-credentials/). The username starts with `rtk` and is not your website login. | | **Password** | From *RTK Credentials*, without a space at the start or end | | **Host**, North America | `rtk.rtkdata.com`, IP fallback `13.56.117.10` | | **Host**, Europe | `eu.rtkdata.com`, IP fallback `3.73.41.96` | | **Host**, Australia | `aus.rtkdata.com`, IP fallback `54.206.56.130` | | **Port** | `2101` | | **Mountpoint** | `AUTO` (recommended), or `AUTO_ITRF2020`, `AUTO_ITRF2014`, `AUTO_WGS84`. Type it in capitals. | | **Position** | **Automatic**, so the XVN sends its position to RTKdata | * Enter only the hostname in **Host**, without `http://` and without `:2101`. The port has its own field, and Fixposition's own example shows a hostname in **Host**. * Fill in each field on its own. Do not use **Enter path**, which takes all values as one string. * Mountpoint names are case sensitive: `AUTO` in capitals. * One set of credentials allows one connection at a time, unless your account was set up with several connections per credential. Every robot that is connected at the same time needs its own data stream, see [How many data streams does a robot fleet need?](/integration-hub/robotics.md#how-many-data-streams-does-a-robot-fleet-need) ## Requirements * **Clearpath robot with OutdoorNav 2.x and an XVN:** a Husky A300 AMP or Husky A300 Observer, or a Jackal with OutdoorNav 2.3.0 or newer and an XVN. Clearpath lists the GNSS antennas and positioning unit (Fixposition Vision RTK 2) among the components of the Husky AMP. * **Internet for the robot** through its Peplink router, over Wi-Fi WAN or a SIM card with mobile data, set up as Clearpath describes under [Getting Internet Access](https://docs.clearpathrobotics.com/docs_outdoornav_user_manual/getting_started/#robot_peplink_connect_to_internet) * **Outbound TCP on port `2101`** in the site Wi-Fi network or on the APN of the SIM card * **Access to the OutdoorNav UI** from a computer on the robot network, see Clearpath's [Networking Setup and UI Access](https://docs.clearpathrobotics.com/docs_outdoornav_user_manual/getting_started/#networking_setup_and_ui_access) * **RTKdata account** with active RTK credentials (username starts with `rtk`) * **One data stream per robot** that is connected at the same time, see [How many data streams does a robot fleet need?](/integration-hub/robotics.md#how-many-data-streams-does-a-robot-fleet-need) * **RTKdata coverage** at your site: check the [coverage map](/get-started/coverage-map.md) before you deploy * **Open sky** for the setup: the robot outside, with a clear view of the sky for both GNSS antennas {% hint style="info" %} Don't have an RTKdata.com account yet? [Start 30-day Free Trial](https://rtkdata.com/try-rtk-corrections-free-for-30-days/) or [View Pricing](https://rtkdata.com/pricing/) {% endhint %} ## Which Clearpath robots does this RTKdata guide cover? This guide covers Clearpath robots that run OutdoorNav 2.x with an XVN: the Husky A300 AMP, the Husky A300 Observer and the Jackal with OutdoorNav 2.3.0 or newer and an XVN; older OutdoorNav systems without an XVN and the Husky A200 Observer with a Swift Navigation Duro receiver use a different workflow and are not covered. | Robot and software | GNSS for the localization | RTKdata setup | | -------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | Husky A300 AMP with OutdoorNav 2.x | XVN, which Clearpath lists as the Fixposition Vision RTK 2 | This page | | Husky A300 Observer with OutdoorNav 2.x | XVN, as on the AMP | This page | | Jackal with OutdoorNav 2.3.0 or newer | XVN, if the robot has one. Clearpath added official OutdoorNav support for the Jackal in version 2.3.0 | This page, for a Jackal with an XVN | | OutdoorNav 0.12 to 1.0.0 (ROS 1) with an XVN | XVN, supported since OutdoorNav 0.12 | The same XVN settings; open the XVN web interface as described in the [Fixposition Vision-RTK 2](/integration-hub/robotics/fixposition-vision-rtk-2.md) guide | | Older OutdoorNav systems without an XVN, and the Husky A200 Observer | Other GNSS receivers, for example a Swift Navigation Duro or Piksi | Not covered: a different workflow | | XVN on a ROS 2 robot without OutdoorNav | XVN with **Source** set to **I/O port**, corrections through the ROS driver | [How do you use RTKdata with a sensor that has no internet?](/integration-hub/robotics/fixposition-vision-rtk-2.md#how-do-you-use-rtkdata-with-a-sensor-that-has-no-internet) in the Fixposition Vision-RTK 2 guide | * Clearpath documents the **Open XVN UI** button for OutdoorNav 2.x. On the ROS 1 versions of OutdoorNav with an XVN, the XVN settings on this page are the same, but open the XVN web interface directly, as the Fixposition guide describes. On a Clearpath robot, keep the network settings that Clearpath configured on the XVN and skip the network steps of the Fixposition guide; ask Clearpath support for the XVN address of your robot. * For the Fixposition Vision-RTK 2 and the Xsens Vision Navigator outside a Clearpath robot, see the [Fixposition Vision-RTK 2](/integration-hub/robotics/fixposition-vision-rtk-2.md) guide. ## How does the robot get internet for RTK corrections? The XVN reaches RTKdata through the robot's Peplink router, so connect that router to the internet over Wi-Fi WAN (a site Wi-Fi network) or a SIM card with mobile data, as Clearpath describes under [Getting Internet Access](https://docs.clearpathrobotics.com/docs_outdoornav_user_manual/getting_started/#robot_peplink_connect_to_internet), and make sure that outbound TCP on port `2101` is open. * Clearpath: "The robot PC will not have internet access unless you have connected the onboard robot Peplink to an internet source". Without internet at the robot Peplink, neither the robot PC nor the XVN has internet, and **Correction data** cannot connect. * **Wi-Fi WAN:** the robot Peplink joins a site Wi-Fi network as a client. Port `2101` has to be open in that network: firewalls and VPNs can block it, see [Troubleshooting & FAQ](/support/troubleshooting-and-faq.md). * **SIM card:** insert a SIM card with a data plan into the robot Peplink and enable the **Cellular** connection. For large sites, drag the cellular connection to **priority 1**, as Clearpath describes. The APN of the SIM card also has to allow outbound TCP on port `2101`. * **Check the internet in the Peplink dashboard,** not in OutdoorNav: on the **Dashboard** tab of the Peplink, the **Cellular** connection reports **Connected**, as Clearpath's Husky A300 manual describes. Clearpath lists the cellular indicator in the OutdoorNav UI as not working in OutdoorNav 2.3.0 (known issue in the release notes). * **Internet through a Clearpath Base Station:** if the robot gets its internet through the Peplink of a Clearpath Base Station, the base station's Wi-Fi range also limits the RTKdata corrections. Outside that range, the robot has no internet and receives no corrections. On robots that are set up as Wi-Fi clients of the base station, do not change the Wi-Fi WAN profile of the robot Peplink, because that profile keeps the robot on the base station network; use a SIM card in the robot Peplink instead. * **One default route on the XVN:** the XVN sends its NTRIP traffic over exactly one network route, its default route, and does not retry over another one, according to Fixposition. If **Correction data** never connects although the Peplink is online, open **Configuration** > **Network** in the XVN UI and read **Default route**. Change network settings on the XVN only together with Clearpath support. ## How do you set up RTKdata in the XVN UI? Open the XVN UI from OutdoorNav, stop the fusion, set **Source** to **NTRIP client (auto)** under **Configuration** > **GNSS**, fill in **User**, **Password**, **Host**, **Port** `2101` and **Mountpoint** `AUTO`, set **Position** to **Automatic**, click **Save and apply** and wait for the green **connected** badge on **Correction data**. {% stepper %} {% step %} ### Take the robot outside and check the internet Put the robot outside with a clear view of the sky, and check that the robot Peplink has internet, as described in *How does the robot get internet for RTK corrections?* above. The `AUTO` mountpoint needs a first position from the XVN, and the XVN gets one only under open sky. {% endstep %} {% step %} ### Open the XVN UI from OutdoorNav 1. Open the OutdoorNav UI. 2. Click one of the GNSS status indicators: **POS**, **DIR** or **FUS**. 3. In the **Status** dialog, click **Open XVN UI** on the **Localization Status** card. {% endstep %} {% step %} ### Stop the fusion In the top bar of the XVN UI, open **Status** > **Fusion** and click **Stop**. While the fusion runs, the XVN UI does not save changes. {% endstep %} {% step %} ### Open the GNSS configuration Open **Configuration** > **GNSS** in the top bar. The page **GNSS Configuration** shows the card **Correction data**. If **Source** shows **TCP client** with `192.168.130.30` in **Host**, the robot has used a Clearpath Base Station so far. Read *Should you use the Clearpath Base Station or RTKdata?* below before you switch. {% endstep %} {% step %} ### Select NTRIP client (auto) Set **Source** to **NTRIP client (auto)**. "(auto)" means that the XVN chooses the NTRIP version automatically. It does not decide whether the XVN sends its position to RTKdata; the **Position** field does that, see the step after next. {% endstep %} {% step %} ### Enter the RTKdata values Fill in each field on its own: 1. **User:** your username from *RTK Credentials*, starting with `rtk` 2. **Password:** your password from *RTK Credentials*. The eye icon next to the field shows it, so you can check it. 3. **Host:** the host for your region, for example `eu.rtkdata.com`, without `http://` and without `:2101` 4. **Port:** `2101` 5. **Mountpoint:** type `AUTO` in capitals Do not use **Enter path**, and do not select the mountpoint with **Sourcetable**: type `AUTO`. Fixposition notes that NTRIP needs all fields in the form, and always a mountpoint. {% endstep %} {% step %} ### Set Position to Automatic Set **Position** to **Automatic**, not to **Manual** and not to **None**. * **Automatic:** the XVN sends the best position available from its GNSS receivers and the fusion to RTKdata, and `AUTO` selects the base station from it. * **None:** the XVN sends no position. It can log in, but RTKdata sends no corrections. * **Manual:** the XVN sends a fixed position that you enter. It does not follow the robot, so do not use it with `AUTO` on a robot. {% hint style="info" %} **AUTO needs the robot's position.** With **Position** set to **Automatic**, the XVN sends its position to RTKdata, which `AUTO` needs to select the nearest base station. Until the XVN has a first position of its own outside, RTKdata cannot select a base station and sends no corrections, so set up and connect the robot outdoors. See [NTRIP & GGA Essentials](/integration-hub/ntrip-clients-and-field-software/ntrip-and-gga-essentials.md#what-happens-when-gga-is-not-sent). {% endhint %} {% endstep %} {% step %} ### Save and apply Click **Save and apply**. The client keeps trying to connect on its own, so use **Restart client** only if the connection hangs. {% endstep %} {% step %} ### Check the Correction data badge The badge on the **Correction data** card turns green and shows **connected**. This only means that the NTRIP client is logged in. Whether corrections arrive shows under **Status** > **GNSS**, see the next section. {% endstep %} {% endstepper %} ## How do you check that OutdoorNav has RTK Fixed? OutdoorNav has RTK Fixed when the XVN shows **RTK fixed** for both GNSS receivers under **Status** > **GNSS**, the fusion runs again and the **POS**, **DIR** and **FUS** indicators in OutdoorNav are green, with **RTK Fix** for **Position GNSS Status** and **Heading GNSS Status** in the status dialog. ### Check the corrections in the XVN UI 1. Open **Status** > **GNSS** and watch the page for at least one minute, as Clearpath asks. 2. In the **Correction data** table, the stability badge in the **Evaluation** column shows **Good**, for example in the **Last minute** row. The rows appear only once the stream has run for a while, so a short **Poor** or **No data** right after **Save and apply** is not a finding. 3. Under **Receivers**, **Fix type** shows **RTK fixed** for **GNSS 1** and **GNSS 2**. Clearpath's guide asks for "good/complete" corrections. For RTKdata, use stability **Good** and **RTK fixed** on both receivers as the check; the second badge in **Evaluation** and the **Correction status** flag are not part of this check. ### Start the fusion 1. Open **Status** > **Fusion** and click **Start**. The badges on the page turn green as the fusion converges. 2. The fusion initializes only when both GNSS receivers are in **RTK fixed**, according to Fixposition. 3. Drive the robot in figure eights or in a zigzag while both receivers stay in **RTK fixed**. Fixposition gives about 3 minutes for the IMU convergence at first use. ### Check the status in OutdoorNav * The **POS**, **DIR** and **FUS** indicators are green. According to Clearpath, green indicators represent RTK accuracy, which accurate autonomous navigation requires; yellow and orange stand for SBAS and SPP accuracy, and red means no GPS signal. * Click a GNSS status indicator or open **Menu** > **TOOLS** > **Status Monitor**. Clearpath: "All 5 localization statuses should be green". The five statuses are **Fusion Status**, **IMU Status**, **Wheelspeed**, **Position GNSS Status** and **Heading GNSS Status**; **Position GNSS Status** and **Heading GNSS Status** show **RTK Fix**. **IMU Status** and **Wheelspeed** turn green once the robot has driven around for a while. * The **Base Station Details** card in the same dialog stays red without a Clearpath Base Station. It concerns only the Clearpath Base Station; for RTKdata, **Position GNSS Status** and **Heading GNSS Status** count. | What you see | Where | What it means | | ------------------------------------------------- | ----------------------------------------------------------- | -------------------------------------------------------------------- | | Green **connected** | **Correction data** card under **Configuration** > **GNSS** | The NTRIP client is logged in. Not proof that corrections arrive | | Stability **Good** in **Evaluation** | **Correction data** table under **Status** > **GNSS** | Corrections arrive steadily | | **RTK fixed** for **GNSS 1** and **GNSS 2** | **Fix type** under **Status** > **GNSS** | Both receivers have an RTK fixed solution; the fusion can initialize | | **POS**, **DIR** and **FUS** green | OutdoorNav UI | RTK accuracy, required for autonomous navigation | | **POS**, **DIR** or **FUS** yellow, orange or red | OutdoorNav UI | SBAS, SPP or no GPS signal: no RTK | | **Base Station Details** red | OutdoorNav **Status** dialog | Only about the Clearpath Base Station, expected without one | ### Optional: read the correction stream without a second login To see whether the XVN receives data from RTKdata, read its correction stream on port `23010`, as Fixposition's guide "Debugging NTRIP connection" describes. Run this on the robot PC or on a laptop on the robot network: ```bash nc 192.168.131.35 23010 ``` The output is either binary correction data or a readable error message from the caster. Clearpath lists `192.168.131.35` as the address of the Fixposition Vision RTK 2 on the Husky A300 AMP and Observer; on other robots, use the XVN address from Clearpath's documentation for your robot. Stop `nc` with Ctrl+C. Do not connect u-center or another NTRIP client with the same RTK credentials for this test: it takes over the connection of the XVN. {% hint style="info" %} **What the RTKdata stream contains.** RTKdata streams RTCM 3.2 with the MSM4 messages 1074, 1084, 1094, 1114, 1124 and 1134 and the message 1005; the XVN needs no format setting. RTCM 1230 (GLONASS code-phase biases) comes from the base station, and most RTKdata base stations do not send it. Without it, a receiver from another manufacturer than the base station cannot fully resolve the GLONASS ambiguities, so GLONASS does not contribute to the fix. GPS, Galileo and BeiDou are not affected. {% endhint %} ## Should you use the Clearpath Base Station or RTKdata? You do not need a Clearpath Base Station with RTKdata, and each robot uses one correction source: the Clearpath Base Station sends corrections from its own receiver over its Wi-Fi network, RTKdata sends them over the internet from the nearest station of its network, and once you set **Source** to **NTRIP client (auto)**, the robot no longer uses the base station. | | Clearpath Base Station | RTKdata | | -------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------ | | **Source** in the XVN UI | **TCP client**, **Host** `192.168.130.30` | **NTRIP client (auto)**, with the values on this page | | Internet for the robot | Not needed for the corrections | Needed, through the robot Peplink | | Where the robot gets corrections | Within the base station's Wi-Fi range. Clearpath: "If WiFi goes out of range, your UGV will not receive RTK corrections from the Base Station." | Wherever the robot has internet and RTKdata coverage | | Base position | The base station surveys itself at power-up; Clearpath: a full survey takes 20 minutes, and the position is then "accurate to about 0.5m" | Coordinates of the reference station, delivered in the datum of the mountpoint | | Several robots | One base station serves several robots | One data stream per robot that is connected at the same time | When you switch a robot from the base station to RTKdata: 1. Set **Source** to **NTRIP client (auto)** as described above. The robot then no longer uses the base station. 2. Absolute positions can shift, because the base station's position comes from its own survey, while RTKdata delivers the coordinates of its reference stations in the datum of the mountpoint. Re-survey the dock with the robot on RTKdata, following Clearpath's [Set Dock Location](https://docs.clearpathrobotics.com/docs_outdoornav_user_manual/getting_started/#set-dock-location) steps: with the edit mode button (pencil icon), select **Docks**, right-click the dock and select **Survey**. 3. Check maps, paths and missions before the first autonomous run. 4. Stay with one source. Do not switch between the base station and RTKdata from one run to the next. ## Which RTKdata mountpoint fits OutdoorNav maps and missions? Use `AUTO` and record your OutdoorNav maps, paths and docks with it; use `AUTO_WGS84` or `AUTO_ITRF2020` only when waypoints come from WGS 84 sources, and keep one mountpoint for the whole project. * **XVN output datum:** Fixposition states that the XVN output is always in the datum of the correction service. With `AUTO`, the positions are therefore in your regional datum: NAD83(2011) in the USA, NAD83(CSRS)v7 in Canada, ETRS89 (realization ETRF2000) in Europe and GDA2020 in Australia. The datum for every region is listed in [Coordinate Systems & Datums](/get-started/coordinate-systems-and-datums.md). * **WGS 84 parameters, regional datum:** according to Fixposition, the XVN converts its position to latitude, longitude and height with the WGS 84 ellipsoid parameters, but the coordinates stay in the datum of the corrections. Without RTK, the output is WGS 84. * **The OutdoorNav datum is not a geodetic datum:** the datum under **Menu** > **Settings**, **Map Settings** (**Set Datum Position**) is the origin of the map, the point (x,y) = (0,0). It does not change the datum of the corrections. * **Maps recorded with RTKdata:** record maps, paths and docks with `AUTO` and keep `AUTO`. * **Waypoints from WGS 84 sources,** such as web maps: use `AUTO_WGS84` or `AUTO_ITRF2020`. * **One mountpoint per project:** maps recorded on `AUTO` and waypoints from a global mountpoint sit in different frames and do not line up, see [Which RTKdata mountpoint fits a robot's maps and waypoints?](/integration-hub/robotics.md#which-rtkdata-mountpoint-fits-a-robots-maps-and-waypoints) and [Why Your Coordinates May Be Offset](/get-started/coordinate-systems-and-datums.md#why-your-coordinates-may-be-offset). * **Heights:** RTKdata delivers ellipsoidal heights, see [Understanding Heights](/get-started/understanding-heights.md). * **Moving robots:** as long as the XVN sends its position, `AUTO` can hand off to a closer station while the robot moves. ## Troubleshooting | Problem | Cause | Fix | | -------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | **Correction data** never shows **connected** | No internet at the robot Peplink, the XVN has no default route to the internet, or outbound TCP on port `2101` is blocked | Check the connection on the Peplink **Dashboard**, read **Default route** under **Configuration** > **Network** in the XVN UI (changes only with Clearpath support), and test with a SIM card instead of the site Wi-Fi or ask your IT to open port `2101` | | **Correction data** never connects with the hostname | The network at the site does not resolve the hostname | Enter the IP fallback for your region in **Host**, see *If the hostname does not connect* below | | **connected**, but no corrections: stability **No data**, no **RTK fixed** | **Position** is not **Automatic**, the mountpoint is not `AUTO` in capitals, or the setup started indoors without a position | Set **Position** to **Automatic**, type `AUTO` in **Mountpoint**, move the robot outside and wait for a position of its own | | Login rejected | The website login was used instead of the RTK credentials, or a space at the start or end | Enter the username (starts with `rtk`) and the password from *RTK Credentials*. If the login still fails with a password that contains special characters, contact | | No connection with **NTRIP client (auto)**, although internet, port and credentials are right | The automatic choice of the NTRIP version does not work with the caster; Fixposition names the fixed versions as helpful in that case | As a second try, select **NTRIP client (v1)** or **NTRIP client (v2)** in **Source** and click **Save and apply** | | Fix keeps cycling between FIX, FLOAT and SINGLE, or **connected** keeps dropping | A second NTRIP client uses the same credentials, for example an `ntrip_client` left running on the robot PC, u-center with **Receiver** > **NTRIP Client** for debugging, or a second robot | Stop every other client on these credentials. For debugging, read port `23010` of the XVN instead. Give every robot that runs at the same time its own data stream, see [data streams for a robot fleet](/integration-hub/robotics.md#how-many-data-streams-does-a-robot-fleet-need) | | Stability **Good**, but no **RTK fixed** | Antenna or cable problem, interference near the antennas, or a base station far from the robot | Under **Status** > **GNSS**, **Antenna state and power** should show **OK** and **On**. Fixposition's quick start guide asks for no USB3 devices or unshielded cables near the GNSS antennas. **Baseline** shows the position of the robot relative to the base station; Fixposition recommends a base station within 15 km. Check the site on the [Coverage Map](/get-started/coverage-map.md) | | Changes in the XVN UI are not saved | The fusion is running | **Status** > **Fusion** > **Stop**, make and save the changes, then **Start** | | **IMU Status** and **Wheelspeed** stay yellow right after **Start** | The IMU and wheel data have not converged yet | Drive the robot in figure eights or a zigzag under **RTK fixed**; at first use, the convergence takes about 3 minutes, according to Fixposition | | The XVN shows **RTK fixed** on both receivers and a running fusion, but **POS**, **DIR** and **FUS** in OutdoorNav are not green | OutdoorNav does not receive the XVN data, for example after the XVN was restarted | Restart the robot. If that does not help, contact Clearpath support | | **Base Station Details** is red | No Clearpath Base Station is in use | Expected with RTKdata. Check **Position GNSS Status** and **Heading GNSS Status** instead | | Dock or recorded paths are offset after the switch from the base station | The absolute frame changed with the correction source | Re-survey the dock with **Survey** and check maps, paths and missions, see *Should you use the Clearpath Base Station or RTKdata?* | | RTKdata settings or the fusion start are missing after an XVN software update | An update can reset parts of the XVN configuration | Update the XVN software only after checking with Clearpath. After an update, check **Configuration** > **GNSS** and **Autostart** under **Configuration** > **Fusion** | ### If the hostname does not connect The **Host** field takes a hostname. Keep the hostname for your region whenever it connects. Use the IP fallback only if the hostname does not resolve or **Correction data** does not connect although internet, port, credentials and mountpoint are right: enter the IP for your region in **Host** and keep the other values. | Region | Hostname (preferred) | IP fallback for **Host** | **Port** | **Mountpoint** | | ------------- | -------------------- | ------------------------ | -------- | -------------- | | North America | `rtk.rtkdata.com` | `13.56.117.10` | `2101` | `AUTO` | | Europe | `eu.rtkdata.com` | `3.73.41.96` | `2101` | `AUTO` | | Australia | `aus.rtkdata.com` | `54.206.56.130` | `2101` | `AUTO` | For connection problems that are not specific to Clearpath robots, see [Common Connection Issues](/support/common-connection-issues.md) and, for port `2101`, firewalls and carriers, [Troubleshooting & FAQ](/support/troubleshooting-and-faq.md). ## Frequently asked questions ### Does 'NTRIP client (auto)' send the robot's position to RTKdata? No. **NTRIP client (auto)** only means that the XVN chooses the NTRIP version automatically. Whether the XVN sends its position to RTKdata is set in the **Position** field on the same card: with **Position** set to **Automatic**, the XVN sends the best position from its GNSS receivers and the fusion, which the `AUTO` mountpoint needs to select a base station. With **None**, the XVN can log in, but no corrections arrive. ### Does GLONASS contribute to the RTK fix with RTKdata on the XVN? In most cases, no. RTCM 1230 (GLONASS code-phase biases) comes from the base station, and most RTKdata base stations do not send it. Without it, a receiver from another manufacturer than the base station cannot fully resolve the GLONASS ambiguities, so GLONASS does not contribute to the fix. GPS, Galileo and BeiDou are not affected. ### Do I need one RTKdata data stream per Clearpath robot? Yes, one data stream for each robot that is connected at the same time, even if one Clearpath Base Station used to serve all of them. One data stream serves both GNSS receivers of the XVN: Fixposition states for the Vision-RTK 2 that "A single RTK correction data stream is required. It is used for both GNSS receivers." Two robots on the same data stream keep disconnecting each other, and the fix keeps cycling between FIX, FLOAT and SINGLE. Robots that run one after another can share one data stream. Depending on how the account was provisioned, extra data streams come as separate credentials for each stream or as one set of credentials with several connections, see [Account & Credentials](/get-started/account-and-credentials.md#using-one-subscription-with-several-devices). For larger fleets, see [Enterprise & Volume](/commercial/enterprise-and-volume.md). ### Should I reset the XVN when the NTRIP connection does not work? No. According to Fixposition, **Reset configuration** clears, among other settings, the GNSS correction configuration and the fusion, camera, wheelspeed and I/O settings, and **Factory reset** clears the network configuration as well. Work through the troubleshooting table above instead, and contact Clearpath support if the XVN still does not connect. ## Quick reference ``` Source: NTRIP client (auto) User: (from RTKdata dashboard, starts with "rtk") Password: (from RTKdata dashboard) Host: rtk.rtkdata.com / eu.rtkdata.com / aus.rtkdata.com Port: 2101 Mountpoint: AUTO Position: Automatic ``` 1. Robot outside with open sky; internet at the robot Peplink (Wi-Fi WAN or SIM), outbound TCP on port `2101`. 2. OutdoorNav UI: click **POS**, **DIR** or **FUS**, then **Open XVN UI** on the **Localization Status** card. 3. XVN UI: **Status** > **Fusion** > **Stop**. 4. **Configuration** > **GNSS**, card **Correction data**: **Source** **NTRIP client (auto)**, **User** and **Password** from *RTK Credentials*, **Host** `rtk.rtkdata.com`, `eu.rtkdata.com` or `aus.rtkdata.com` (IP fallback `13.56.117.10`, `3.73.41.96` or `54.206.56.130`), **Port** `2101`, **Mountpoint** `AUTO`, **Position** **Automatic**. 5. **Save and apply**, then wait for the green **connected** badge. 6. **Status** > **GNSS** for at least one minute: stability **Good**, **Fix type** **RTK fixed** for **GNSS 1** and **GNSS 2**. 7. **Status** > **Fusion** > **Start**, drive figure eights under **RTK fixed**, then check that **POS**, **DIR** and **FUS** are green in OutdoorNav. 8. Coming from a Clearpath Base Station: re-survey the dock and check maps, paths and missions. One data stream per robot connected at the same time. ## Related Guides * [Fixposition Vision-RTK 2](/integration-hub/robotics/fixposition-vision-rtk-2.md): the NTRIP client of the Vision-RTK 2 and the Xsens Vision Navigator outside a Clearpath robot, and the setup without internet on the sensor * [Robotics](/integration-hub/robotics.md): how RTK corrections reach a robot, data streams for a robot fleet and which robots have an RTKdata guide * [ROS 2 NTRIP Client](/integration-hub/ntrip-clients-and-field-software/ros2-ntrip-client.md): the general ROS 2 route with `ntrip_client` and a GNSS driver, for robots without a receiver that connects to RTKdata itself * [NTRIP & GGA Essentials](/integration-hub/ntrip-clients-and-field-software/ntrip-and-gga-essentials.md): why the caster needs the robot's position before it sends corrections * [NTRIP Server Settings](/get-started/network.md): the regional hosts, IP fallbacks, port and mountpoints in one reference * [Account & Credentials](/get-started/account-and-credentials.md#using-one-subscription-with-several-devices): where to find your RTK credentials and why each robot connected at the same time needs its own data stream * [Coordinate Systems & Datums](/get-started/coordinate-systems-and-datums.md): which datum `AUTO` and its variants deliver in each region * [Understanding Heights](/get-started/understanding-heights.md): ellipsoidal and orthometric heights, and how to apply a geoid * [Coverage Map](/get-started/coverage-map.md): check the station coverage where the robot works * [Common Connection Issues](/support/common-connection-issues.md): what to check when corrections do not arrive or the fix stays on Float * [Troubleshooting & FAQ](/support/troubleshooting-and-faq.md): port 2101, firewalls and carrier restrictions * [Enterprise & Volume](/commercial/enterprise-and-volume.md): volume licensing for robot fleets ## Related Industry Solutions * [Robotics](https://rtkdata.com/robotics/) --- # Agent Instructions This documentation is published with GitBook. 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