Similar to this post, @saeedanas and I want to be able to use our own GPS RTK instead of RTK over IP as is provided by the Brain apps.
We have a base station already and want to be able to access the Zed F9P board that’s inside to be able to run a ROS2 node that manages RTK and publishes out to a topic. Before I go browsing the device tree and looking for where the RTK boards are connected to, I wanted to get any guidance on your thoughts about how I should be going about this. Maybe someone has gone through the exercise of using the RTK boards already.
Perhaps @MScatolin or @LourenK have some thoughts?
You could potentially stop the GPS service and re-write code to configure a new service for the f9p board, but the problem there would be that, currently, the GPS service is actually the farmng-amiga.service which also handles the cameras and teh recorder. In other words… too much work 
Since you are using ROS2 and handling navigation from there (not using our filter), I would just connect another module and write your service from scratch, which shouldn’t be difficult.
Yeah that makes sense. That’s along the lines of what we were thinking.
The question I have is if I need to reflash the F9P board because it isn’t configured properly to communicate with our RTK base, how would I go about doing that?
Is there any guidance on where it’s connected to and how I can flash from within the Brain (since it’s unable to be disconnected.
It will be mounted to /dev/ttyACM0.
and your base station will be providing corrections over something that is not internet? A lot of base stations give you the option to run a NTRIP server that you can connect to using internet or a local network.