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View Code? Open in Web Editor NEWROS 1 & 2 driver for Septentrio GNSS & INS receivers
License: BSD 3-Clause "New" or "Revised" License
ROS 1 & 2 driver for Septentrio GNSS & INS receivers
License: BSD 3-Clause "New" or "Revised" License
Specifying a namespace when launching the Septentrio node does not effect the names of the published topic - they are always published in the root name space.
For topics like /insnavgeod
this is not much of an issue, it's clear they're from the Septentrio and there aren't other nodes that publish such topics, but for others like /imu
and /pose
this will cause confusion. Also, preferably nodes ought to operate in a given namespace when they are launched in that given namespace.
arne@laptop:~$ ros2 topic list
/<namespace>/insnavgeod
/<namespace>/imu
/<namespace>/pose
etc.
arne@laptop:~$ ros2 topic list
/insnavgeod
/imu
/pose
etc.
This is likely due to the topics being defined with a preceding slash in septentrio_gnss_driver/src/septentrio_gnss_driver/communication/message_handler.cpp
, e.g.
publish<INSNavCartMsg>("/insnavcart", last_insnavcart_);
instead of
publish<INSNavCartMsg>("insnavcart", last_insnavcart_);
Compiled septentro_gnss_driver
from source, branch ros2
, HEAD commit 207c37bc
.
Thank you in advance for addressing this. Should you need more details or information, please don't hesitate to ask.
Hi, i tried to build the latest release of your septentrio driver, but unfortunalty this is leading to a few problems:
it seems to mess up my colcon as well as it didnt build.
System specs:
Steps:
colcon build --packages-select-septentrio_gnss_driver_ros2
Result:
colcon build --packages-select septentrio_gnss_driver_ros2
/home/johannes/.local/lib/python3.10/site-packages/setuptools/dist.py:723: UserWarning: Usage of dash-separated 'script-dir' will not be supported in future versions. Please use the underscore name 'script_dir' instead
warnings.warn(
/home/johannes/.local/lib/python3.10/site-packages/setuptools/dist.py:723: UserWarning: Usage of dash-separated 'install-scripts' will not be supported in future versions. Please use the underscore name 'install_scripts' instead
warnings.warn(
/home/johannes/.local/lib/python3.10/site-packages/setuptools_scm/_integration/setuptools.py:31: RuntimeWarning:
ERROR: setuptools==59.6.0 is used in combination with setuptools_scm>=8.xYour build configuration is incomplete and previously worked by accident!
setuptools_scm requires setuptools>=61Suggested workaround if applicable:
- migrating from the deprecated setup_requires mechanism to pep517/518
and using a pyproject.toml to declare build dependencies
which are reliably pre-installed before running the build toolswarnings.warn(
[0.677s] WARNING:colcon.colcon_core.package_selection:ignoring unknown package 'septentrio_gnss_driver_ros2' in --packages-select
[0.705s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/johannes/ros2_ws/install/septentrio_gnss_driver' in the environment variable AMENT_PREFIX_PATH doesn't exist
[0.705s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/johannes/ros2_ws/install/septentrio_gnss_driver' in the environment variable CMAKE_PREFIX_PATH doesn't existSummary: 0 packages finished [0.66s]
Hey,
I have a MOSIAC GO heading evaluation kit. When searching for the device using "serial/by-id", I have two names for one device. Only when the connection is established using one of the ids, I am able to receive ROS messages. When using the other id, connection is established but there are no messages.
Moreover, the id through which the messages are received is not constant and changes between the two upon restart.
How do I fix it and why is it happening?
Thank you!
Hello together,
I've just installed the mosaic-h receiver to our robot and I wonder what is the best way to integrate the global heading (two antennas) into the robot_localization node. I have found the /pose topic, which would be in general an easy way to integrate (geometry_msgs/PoseWithCovarianceStamped.msg),but it looks like it doesn't include the global but local heading.
Thanks in advance
Hello together,
I tried to launch the ROS2 Package of septrentio but I get the error message "file rover.py not found"
I
System info:
Raspberry Pi 4
OS Ubuntu
Septentrio driver install via apt-get -- self building not a option due to crushing of Raspberry every time i do it.
Thank you in advance
Hello
I have been using septentrio's Asterx SBi3 pro+ with dual antenna setup. I have integrated it to robot_localization node via navsat_transform .
I would like to integrate directly /localization odometry topic data as it gives absolute heading. My doubts/questions are below
Could some please clarify these?
working environment:
ROS2 umble
Jetson Orin AGX - ubuntu 22
I have mobile robot setup with INS receiver + dual antenna setup.
My robot model is as follow:
<?xml version="1.0" ?>
<robot name="robot">
<link name="/base_link"/>
<link name="/imu_septentrio"/>
<joint name="/base_link_to_imu_septentrio_joint" type="fixed">
<parent link="/base_link"/>
<child link="/imu_septentrio"/>
<origin rpy="0 0 1.5708" xyz="-0.0973 -0.0296 0.23457"/>
</joint>
<link name="/ant_septentrio_aux"/>
<joint name="/imu_septentrio_to_ant_septentrio_main_joint" type="fixed">
<parent link="/imu_septentrio"/>
<child link="/ant_septentrio_main"/>
<origin rpy="0 0 0" xyz="-0.129 -0.069 -0.02"/>
</joint>
<link name="/ant_septentrio_main"/>
<joint name="/ant_septentrio_main_to_ant_septentrio_aux_joint" type="fixed">
<parent link="/ant_septentrio_main"/>
<child link="/ant_septentrio_aux"/>
<origin rpy="0 0 0" xyz="0.38 0.004 0.0"/>
</joint>
<link name="/vsm"/>
<joint name="/base_link_to_vsm_joint" type="fixed">
<parent link="/base_link"/>
<child link="/vsm"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
</robot>
which results in this robot model (top view):
Receiver IMU has Z axis pointing up and Y opposite to robot's forward direction. Here's also a sketch of the robot:
The configuration yaml file does use both use_ros_axis_orientation: true
, get_spatial_config_from_tf: true
and configure_rx: true
, so I expect the ros driver node to reconfigure the receiver once I launch the node using the information from my robot model. However, if I then check the web UI for INS settings, I see the receiver/imu orientation is set correctly, but lever arms (IMU<>MainARP and IMU<>base link) do not match what I would expect correctly set? What am i missing here?
This has clearly serious implications as the imu information is then poorly in the receiver and leads to flyaway estimates (red dots) when compared with another location information provider (blue dots)
Hello,
I am using the Septentrio INS SBI Pro + and the official driver for my project, I have encountered an issue where the navsatfix
topic occasionally publishes invalid values, specifically -20000000
, under certain conditions (e.g., bad GNSS signal). This behavior can lead to complications in downstream applications such as localization and navigation systems.
Description of the issue:
navsatfix
messages from the driver sometimes contain latitude and longitude values of -20000000
.navsatfix
message during these instances is -1.Impact:
Expected behavior:
navsatfix
messages under these conditions.Environment:
I am looking forward to any suggestions, guidance, or fixes you can provide. Additionally, if there's any further information or testing I can assist with, please let me know.
Best regards,
Ayoub.
The angular velocities published in the topic /imu
appear to be expressed in unit deg/s instead of rad/s. Following the ROS message definition, it was expected that they are expressed in the latter and not the former units.
As a result, all existing ROS nodes (which assume rad/s) get the impression that the platform is rotating about 60 times faster than in reality, which results in control issues.
/imu
.The angular velocities are expressed in unit rad/s
sensor_msgs/msg/Imu
, the type of the message published on the /imu
topic.The values are about 60 times larger than expected. They are probably expressed in °/s instead of rad/s
Graph created when rotating the Septentrio at a sine-modulated angular velocity in the order of 15 °/s:
Visualization using Plotjuggler
Compiled septentro_gnss_driver
from source, branch ros2
, HEAD commit 207c37bc
.
We would appreciate if you could look into this. In case any other information is desired, please let know.
We need to connect to the device via serial insted aof tcp-Ip, since the the-syscon-driver is not available for arm and we have problems to use the devices on jetson nano. We can connect to the device but did not receive any payload:
septentrio_gnss: Searching for serial port/dev/ttyACM2 [DEBUG] [1695029925.501838983]: /septentrio_gnss: Leaving initializeIO() method [DEBUG] [1695029925.501889266]: /septentrio_gnss: Called defineMessages() method [DEBUG] [1695029925.501941183]: /septentrio_gnss: Key 5914 successfully inserted into multimap: true [DEBUG] [1695029925.501989459]: /septentrio_gnss: Key $GPGGA successfully inserted into multimap: true [DEBUG] [1695029925.502032098]: /septentrio_gnss: Key $GPRMC successfully inserted into multimap: true [DEBUG] [1695029925.502079494]: /septentrio_gnss: Key 4006 successfully inserted into multimap: true [DEBUG] [1695029925.502143309]: /septentrio_gnss: Key 4007 successfully inserted into multimap: true [DEBUG] [1695029925.502217710]: /septentrio_gnss: Key 4028 successfully inserted into multimap: true [DEBUG] [1695029925.502308669]: /septentrio_gnss: Called connect() method [DEBUG] [1695029925.502367530]: /septentrio_gnss: Started timer for calling reconnect() method until connection succeeds [DEBUG] [1695029925.502424710]: /septentrio_gnss: Key 5905 successfully inserted into multimap: true [DEBUG] [1695029925.502506028]: /septentrio_gnss: Key 5906 successfully inserted into multimap: true [DEBUG] [1695029925.502565937]: /septentrio_gnss: Called reconnect() method [DEBUG] [1695029925.502633483]: /septentrio_gnss: Key 5908 successfully inserted into multimap: true [ INFO] [1695029925.502694819]: /septentrio_gnss: Connecting serially to device/dev/ttyACM2, targeted baudrate: 115200 [DEBUG] [1695029925.502727933]: /septentrio_gnss: Calling initializeSerial() method.. [DEBUG] [1695029925.502785033]: /septentrio_gnss: Key 5938 successfully inserted into multimap: true [DEBUG] [1695029925.502867118]: /septentrio_gnss: Key 5939 successfully inserted into multimap: true [DEBUG] [1695029925.502941016]: /septentrio_gnss: Key 4027 successfully inserted into multimap: true [ INFO] [1695029925.502998599]: /septentrio_gnss: Opened serial port /dev/ttyACM2 [DEBUG] [1695029925.503036614]: /septentrio_gnss: Our boost version is 107100. [DEBUG] [1695029925.503065131]: /septentrio_gnss: Creating new Async-Manager object.. [DEBUG] [1695029925.503136543]: /septentrio_gnss: Key GPST successfully inserted into multimap: true [DEBUG] [1695029925.503198368]: /septentrio_gnss: Setting the private stream variable of the AsyncManager instance. [DEBUG] [1695029925.503253391]: /septentrio_gnss: Key NavSatFix successfully inserted into multimap: true [DEBUG] [1695029925.503334594]: /septentrio_gnss: Key GPSFix successfully inserted into multimap: true [DEBUG] [1695029925.503414906]: /septentrio_gnss: Key 4013 successfully inserted into multimap: true [DEBUG] [1695029925.503495424]: /septentrio_gnss: Launching tryParsing() thread.. [DEBUG] [1695029925.503581452]: /septentrio_gnss: Key 4001 successfully inserted into multimap: true [DEBUG] [1695029925.503652366]: /septentrio_gnss: Called setManager() method [DEBUG] [1695029925.503692629]: /septentrio_gnss: Leaving setManager() method [DEBUG] [1695029925.503722766]: /septentrio_gnss: Gradually increasing the baudrate to the desired value... [DEBUG] [1695029925.503750889]: /septentrio_gnss: Initiated current_baudrate object... [DEBUG] [1695029925.503787621]: /septentrio_gnss: Key PoseWithCovarianceStamped successfully inserted into multimap: true [DEBUG] [1695029925.503841758]: /septentrio_gnss: Current baudrate is 115200 [ INFO] [1695029925.503895146]: /septentrio_gnss: Set ASIO baudrate to 115200, leaving InitializeSerial() method [DEBUG] [1695029925.503977075]: /septentrio_gnss: Key 5902 successfully inserted into multimap: true [DEBUG] [1695029925.504056902]: /septentrio_gnss: Leaving reconnect() method [DEBUG] [1695029925.504178742]: /septentrio_gnss: Leaving defineMessages() method [DEBUG] [1695029925.504256236]: /septentrio_gnss: Called configureRx() method [DEBUG] [1695029925.504412151]: /septentrio_gnss: Sent the following 22 bytes to the Rx: SSSSSSSSSSSSSSSSSSS [DEBUG] [1695029925.505133951]: /septentrio_gnss: Calling read_callback_() method, with number of bytes to be parsed being 5 [DEBUG] [1695029927.504530274]: /septentrio_gnss: Successully connected. Leaving connect() method [ INFO] [1695029935.505388750]: /septentrio_gnss: TryParsing() method finished since it did not receive anything to parse for 10 seconds..
I am trying to enable and set up ntrip via the ROS driver but it does work. If I do it via the web interface it works fine but I am unable to change the params and have them take effect. I get the following error when running the node.
Internet via usb is enabled and network is shared with mosaic
[ INFO] [1712269543.763666999]: /mosaic_rover: Setting up Rx.
[ERROR] [1712269544.007263301]: /mosaic_rover: Invalid command just sent to the Rx! The Rx's response contains 62 bytes and reads:
$R? setAntennaOffset: Tabular argument 'Antenna' is invalid!
[ERROR] [1712269544.008559705]: /mosaic_rover: Invalid command just sent to the Rx! The Rx's response contains 57 bytes and reads:
$R? setNtripSettings: Tabular argument 'Cd' is invalid!
[ERROR] [1712269544.010540076]: /mosaic_rover: Invalid command just sent to the Rx! The Rx's response contains 57 bytes and reads:
$R? setNtripSettings: Tabular argument 'Cd' is invalid!
[ERROR] [1712269544.011905323]: /mosaic_rover: Invalid command just sent to the Rx! The Rx's response contains 60 bytes and reads:
$R? setNtripTlsSettings: Tabular argument 'Cd' is invalid!
RTK settings in the yaml
rtk_settings:
ntrip_1:
id: "NTRIP1"
caster: ""
caster_port: 2101
username: ""
password: ""
mountpoint: ""
version: "v2"
tls: false
fingerprint: ""
rtk_standard: "auto"
send_gga: "auto"
keep_open: true
ip_server_1:
id: ""
port: 0
rtk_standard: "auto"
send_gga: "auto"
keep_open: true
serial_1:
port: ""
baud_rate: 115200
rtk_standard: "auto"
send_gga: "auto"
keep_open: true
Hardware:
I am using the Septentrio AsteRx-i3 D Pro + on Ubuntu 18.04 and ROS Melodic.
Bug
The /extsensormeas node sends the correct angular rate but sends the exact same data for its accelerations.
Velocity, std_dev and temperature data are way off the real values.
IN RXTools Message Inspector View the correct data on acceleration, angular rate and tempreratur are shown.
Example
header:
seq: 7638
stamp:
secs: 1650352094
nsecs: 7669758
frame_id: "ins"
block_header:
sync_1: 36
sync_2: 64
crc: 14449
id: 4050
length: 100
tow: 198512000
wnc: 2206
n: 3
sb_length: 28
source: 32
sensor_model: 10
type: 1
obs_info: 1
acceleration_X: -0.0325
acceleration_Y: 0.47875
acceleration_Z: -0.08875
angular_rate_X: -0.0325
angular_rate_Y: 0.47875
angular_rate_Z: -0.08875
velocity_X: 9.12120139543e-33
velocity_Y: -1.25499999523
velocity_Z: 9.12119919138e-33
std_dev_X: 1.73937499523
std_dev_Y: -3.21864213941e+26
std_dev_Z: -1.42749989033
sensor_temperature: 28832
zero_velocity_flag: -0.0325
header:
seq: 7639
stamp:
secs: 1650352094
nsecs: 507891427
frame_id: "ins"
block_header:
sync_1: 36
sync_2: 64
crc: 63172
id: 4050
length: 72
tow: 198512500
wnc: 2206
n: 2
sb_length: 28
source: 32
sensor_model: 10
type: 1
obs_info: 1
acceleration_X: 0.01125
acceleration_Y: 0.47125
acceleration_Z: -0.15625
angular_rate_X: 0.01125
angular_rate_Y: 0.47125
angular_rate_Z: -0.15625
velocity_X: 4.05647994111e+29
velocity_Y: 1.05499994755
velocity_Z: -71.6799468994
std_dev_X: 1.7356249094
std_dev_Y: nan
std_dev_Z: -1.53124988079
sensor_temperature: -10491
zero_velocity_flag: 0.01125
This is not an issue but more of a suggestion/request. A standard configuration file for c++ autoformatter (eg .clang-format) would help to standardise formatting for contributors. Please look into including such configuration files
@tibordome @thomasemter
Hello. Thanks for your work ,
I use AsteRx-i3 S Pro+(firmware:version 1.3.2) and use the ros2 branch of this package.
In the process I encountered the following problem.
Even if I set theta_x in imu_orientation to 180, it is 0.0deg on WebUI(setting values within 90 degrees are reflected correctly).
https://github.com/septentrio-gnss/septentrio_gnss_driver/blob/ros2/config/rover.yaml#L112
aster rx is not able to access the RTK correction service correctly even if I set it according to the following
debf0e4#diff-b06a267690b8225807484c743113fa3cf06dc111f3a59de9c57f3b9f32c6303d
We confirmed that the ntrip configuration values were loaded internally in the hardware, but aster rx was not able to communicate with the correction information server.
So can you tell me how to set the settings correctly or how Aster settings are not done from the ROS driver?
The angular velocities published on the topic /twist_ins
are all zeros even when the platform is rotating and angular velocities are being published on the the /imu
topic.
Nodes that currently want to observe both angular and linear velocity have to subscribe to two topics (/twist_ins
and /imu
) instead of only /twist_ins
.
/twist_ins/twist/twist/angular/x
.The angular velocities in the geometry_msgs/msg/TwistWithCovarianceStamped
message are the best available estimates for the platform's angular velocity. This can be just the gyro measurements, like published on /imu
, though preferably these measurements are already corrected (e.g. bias correction). They are expressed in the frame stated in the frame_id
of this message.
They are always zero.
Graph created while moving around, time axis on the horizontal:
Compiled septentro_gnss_driver
from source, branch ros2
, HEAD commit 207c37bc
.
Thank you in advance for your time. In case there's any setting we missed, or more information is required, please share.
Hi all,
We are using Septentrio receivers in dual antenna setup (we use both SB ProDirect and SBi3 Pro+).
We are used to subscribe to /gpsfix topic to get position, velocity and vehicle heading information.
In the configuration file I've set "multi_antenna" to true.
When the vehicle is in motion track is correctly published on the /gpsfix topic, however when the vehicle is standstill track seems to be no more available and the value is set to something like "-200000000000" (I think it is the default value to inform the user that the data is not available).
However, in the "/atteuler" topic the "heading" field is always available (both when the vehicle is in motion and when stanstill). I think that it would be more logic to always supply "track" in /gpfix too since that data is de facto available.
I'm not totally sure if track and heading are retrieved in the same way internally (from what I've seen, track is computed using Course Over Ground, while heading exploiting the presence of the 2 antennas); however I think that heading/track should always be published in the gpsfix topic since the receiver has that information at any time when running in dual antenna setup.
Please let me know what do you think.
The driver is reading frames from tf. The following is the message received from the receiver:
[ERROR] [1665063739.518137652]: /septentrio_gnss: Invalid command just sent to the Rx! The Rx's response contains 47 bytes and reads:
$R? setINSAntLeverArm: Argument 'X' is invalid!
I am printing the exact string being formed prior to the sending, which is:
sial, 0.03639, 0.176597, -0.836319
Looking at the manual, this looks correct.
Why would the receiver respond this way?
When pressing CTRL+C to terminate the driver, the driver stops publishing messages but does not shutdown properly.
Ubuntu 20.04, official apt package for ROS Noetic, v1.06
Hi!
Is there any parameter in the package to change the publish rate for all the GNSS topics? Right now, they are being published at 100 Hz, which causes are state estimator using the GNSS measurement to behave weirdly.
Ideally, we would like to set it to 1 Hz.
Is this possible?
Thanks!
Hello,
Is there a quick way to record the Signal Noise Ratio on a ROS2 topic? I saw the C/n0 is used internally with the MeasEpochChannelType1(2).msg but it is not published to a topic.
Thanks in advance!
Hello,
I have a question regarding the antenna_offset:heading
parameter: If i use this parameter with ros_axis_orientation
is the offset applied to the values complying with the ros_axis_orientation(enu) or to the default NED frame?
I am currently trying to build the septentrio_gnss_driver in ROS2. However, the command git checkout ros2 does not work. When I check with git branch -a, only origin/master is available and the ros2 branch cannot be found. Can you help me with this issue?
Am i correct in observing that the BaseVectorGeod and BaseVectorCart blocks ( the relative position of the rover w.r.t. the base station) are not retrieved and processed by the driver?
If not much trouble, can this be added?
Driver fails to detect files when path to file is provided with slashes ('/').
Driver was compiled and launched in a Debian-stretch based docker container with ROS Melodic.
Specify device in the parameter file as shown
device: file_name:/dir1/dir2/file.sbf
Driver not able to recognise device.
Regex used to detect device specified seems to be incorrect.
Suspected source of bug -
Hello guys,
When I launched septentrio_gnss_driver rover.launch param_file_name:=rover, I got the error: [ERROR] [1684219558.118107529]: /septentrio_gnss: gnss. The hardware and software setup are described below:
Additional notes:
I have tried to build the package from source and binary install, but both lead to the same error. In addition, I'm able to connect via Ethernet-over-USB IP address 192.128.3.1. A screenshot is attached below:
After some minutes I got the message in the terminal: [ INFO] [1684220890.105052450]: /septentrio_gnss: TryParsing() method finished since it did not receive anything to parse for 10 seconds..
Configuration Settings for the Rover Rx in the rover.yaml file:
device: tcp://192.168.3.1:28784
serial:
baudrate: 921600
rx_serial_port: USB1
hw_flow_control: off
login:
user: ""
password: ""
frame_id: gnss
imu_frame_id: imu
poi_frame_id: base_link
vsm_frame_id: vsm
aux1_frame_id: aux1
vehicle_frame_id: base_link
local_frame_id: odom
insert_local_frame: false
get_spatial_config_from_tf: false
lock_utm_zone: true
use_ros_axis_orientation: true
receiver_type: gnss
multi_antenna: true
datum: Default
poi_to_arp:
delta_e: 0.0
delta_n: 0.0
delta_u: 0.0
att_offset:
heading: 0.0
pitch: 0.0
ant_type: "Unknown"
ant_serial_nr: "Unknown"
ant_aux1_type: "Unknown"
ant_aux1_serial_nr: "Unknown"
leap_seconds: 18
polling_period:
pvt: 500
rest: 500
use_gnss_time: false
rtk_settings:
ntrip_1:
id: ""
caster: ""
caster_port: 2101
username: ""
password: ""
mountpoint: ""
version: "v2"
tls: false
fingerprint: ""
rtk_standard: "auto"
send_gga: "auto"
keep_open: true
ip_server_1:
id: ""
port: 0
rtk_standard: "auto"
send_gga: "auto"
keep_open: true
serial_1:
port: ""
baud_rate: 115200
rtk_standard: "auto"
send_gga: "auto"
keep_open: true
publish:
navsatfix: false
gpsfix: true
gpgga: false
gprmc: false
gpst: false
measepoch: false
pvtcartesian: false
pvtgeodetic: true
basevectorcart: false
basevectorgeod: false
poscovcartesian: false
poscovgeodetic: true
velcovgeodetic: true
atteuler: false
attcoveuler: true
pose: false
twist: false
diagnostics: false
gpgsa: false
gpgsv: false
insnavcart: false
insnavgeod: false
extsensormeas: false
imusetup: false
velsensorsetup: false
exteventinsnavcart: false
exteventinsnavgeod: false
imu: false
localization: false
tf: false
ins_spatial_config:
imu_orientation:
theta_x: 0.0
theta_y: 0.0
theta_z: 0.0
poi_lever_arm:
delta_x: 0.0
delta_y: 0.0
delta_z: 0.0
ant_lever_arm:
x: 0.0
y: 0.0
z: 0.0
vsm_lever_arm:
vsm_x: 0.0
vsm_y: 0.0
vsm_z: 0.0
ins_initial_heading: auto
ins_std_dev_mask:
att_std_dev: 5.0
pos_std_dev: 10.0
ins_use_poi: false
ins_vsm:
ros:
source: ""
config: [false, false, false]
variances_by_parameter: false
variances: [0.0, 0.0, 0.0]
ip_server:
id: ""
port: 0
keep_open: true
serial:
port: ""
baud_rate: 115200
keep_open: true
activate_debug_log: false
Not an issue, but a suggestion.
It would be nice to be able to simply publish and consume rtcm_msgs or similar in some admittedly more obscure set ups.
One such setup is a location with no internet connection, but with
With the above we can deploy at any site, without the requirement for any internet based NTRIP caster. Instead, using ROS messages to distribute RTCM. This keeps it nice and tidy, with no 'outside ROS' software or communications (eg. u-center, SNIP, which are both non-linux, or even any linux NTRIP caster).
I currently use an F9P, and don't have a Septentrio receiver to trial, unfortunately.
But this receiver looks promising and I hope to obtain one soon.
Hi,
The driver seems to crash if I run it for a longer period of time. It gave a double free or corruption error.
My setup is as follows:
Asterx i3 D Pro+ connected over usb to a pc.
bnc ntrip client connecting on usb2 of the asterx i3.
Hello,
I intend on communicating with the Astrex SBi3 via Ethernet (TCP IP), but i would like to provide differential corrections via Serial (COM1-GPIO).
Reading the code, im not sure this is possible.
In the configureRx() function, the "device" parameter is parsed, and if proto=="tcp", the corrections are assumed to be provided over TCP.
The same "device" paramter is parsed in the initializeIO() when connecting to the device.
Is it possible to use tcp to connect to device, and serial to provide corrections (i am not using NTRIP, i have a radio on board that received corrections for a local base station).
Hello
I'm using ros2 (branch ros2) driver for AsteRx SBi3 Pro+ on Ubuntu 20.04 with ROS Foxy. I have been receiving ".nan" in the orientation field of the /imu topic. Everything else seems good. I have received the RTK FIxed status and connected to base station.
I also tried to checkout to dev2 branch but couldn't able to build it on foxy due to some errors.
Note* I also used drivers from dev2 branch with ros2 humble. it was built and working fine. /imu topic is also having accurate values.
Could someone help me out with this issue?
working environment:
ROS Foxy
Jetson Orin Nano
Hi,
We are using the septentrio_gnss_driver v1.3.2 (https://github.com/septentrio-gnss/septentrio_gnss_driver/releases/tag/v1.3.2) for AsteRx SBi3 Pro+ on Ubuntu 2.04 with ROS Noetic. We used the USB interface with AsteRx SBi3 Pro+.
We had two issues related to RTK and GNSS/INS output data. Before we use the device, I did the device initialization from this link (https://customersupport.septentrio.com/s/article/How-to-initialize-the-IMU-of-your-Septentrio-GNSS-INS-solution).
(1) We used HxGN SmartNet RTK service. We had the RTK Fixed worked. However, we found that whenever we drove our vehicle around, the RTK fixed status jumps to Disabled and the GNSS/INS output data also drifted
Note: I understand that which ROS topic to read for the status of the GNSS/INS, such as RTK float, RTK fixed, or no RTK in previous post. We checked the Internet connect, it was good for the 4G/LTE module.
(2) We also found that the GNSS/INS data became invalid quite often when we drove the vehicle outside. Sometime the invalid data stayed for quite a long time or never getting back to the normal values.
We also posted our recorded video here: https://youtu.be/jCihYPSxACE
We configured the AsteRx SBi3 Pro+ device through the webGUI, not the ROS driver as belows.
Any suggestion on above issues?
Thanks a lot for the help!
Best,
Hang
Hello,
after following the steps to install the driver and populating the rover.yaml file to the desired values for my ins (AsteRx-i D UAS) i reiceive the following errors when trying to launch using the launch command: roslaunch septentrio_gnss_driver rover.launch param_file_name:=rover.
[ERROR] [1651696982.905807212]: /septentrio_gnss: Invalid command just sent to the Rx! The Rx's response contains 40 bytes and reads:
$R? sga, MultiAntenna : Invalid command!
[ERROR] [1651696983.164258781]: /septentrio_gnss: Invalid command just sent to the Rx! The Rx's response contains 55 bytes and reads:
$R? sivl, VSM1, -0.348, 0.546, 0.711 : Invalid command!
[ERROR] [1651696983.288957650]: /septentrio_gnss: Invalid command just sent to the Rx! The Rx's response contains 33 bytes and reads:
$R? siih, auto : Invalid command!
Tried troubleshooting myself but am not sure what I am missing. Any ideas?
`# Configuration Settings for the Rover Rx
device: tcp://192.168.3.1:28784
serial:
baudrate: 115200
rx_serial_port: USB0
hw_flow_control: off
frame_id: gnss
imu_frame_id: imu
poi_frame_id: base_link
vsm_frame_id: vsm
aux1_frame_id: aux1
vehicle_frame_id: base_link
get_spatial_config_from_tf: false
lock_utm_zone: true
use_ros_axis_orientation: true
receiver_type: ins
datum: ETRS89
poi_to_arp:
delta_e: 0.0
delta_n: 0.0
delta_u: 0.0
att_offset:
heading: 0.0
pitch: 0.0
ant_type: Unknown
ant_serial_nr: Unknown
ant_aux1_type: Unknown
ant_aux1_serial_nr: Unknown
leap_seconds: 18
polling_period:
pvt: 500
rest: 500
use_gnss_time: false
ntrip_settings:
mode: off
caster: 0
caster_port: 0
username: 0
password: 0
mountpoint: 0
ntrip_version: v2
send_gga: auto
rx_has_internet: false
rtcm_version: RTCMv2
rx_input_corrections_tcp: 6666
rx_input_corrections_serial: USB2
publish:
navsatfix: false
gpsfix: true
gpgga: false
gprmc: false
gpst : false
measepoch: false
pvtcartesian: false
pvtgeodetic: true
poscovcartesian: false
poscovgeodetic: true
velcovgeodetic: true
atteuler: true
attcoveuler: false
pose: true
diagnostics: false
gpgsa: false
gpgsv: false
insnavcart: false
insnavgeod: false
extsensormeas: false
imusetup: true
velsensorsetup: false
exteventinsnavcart: false
exteventinsnavgeod: false
imu: false
localization: false
tf: false
ins_spatial_config:
imu_orientation:
theta_x: 180.0
theta_y: 0.0
theta_z: 180.0
poi_lever_arm:
delta_x: 0.0
delta_y: 0.0
delta_z: 0.0
ant_lever_arm:
x: -0.348
y: -0.546
z: -0.711
vel_sensor_lever_arm:
vsm_x: 0.0
vsm_y: 0.0
vsm_z: 0.0
ins_initial_heading: auto
ins_std_dev_mask:
att_std_dev: 5.0
pos_std_dev: 10.0
ins_use_poi: false
activate_debug_log: false`
First of all the driver is working pretty well and the documentation helps a lot. The only issue I have, is that I don't get Ntrip connections to work. I use the the Mosaic go heading evaluation kit.
The board is connected via USB port and tcp is used. All the activated messages arrive in ROS. I configured the ntrip settings according to the instructions i found to the following settings:
ntrip_1:
id: "1"
caster: "www.sapos.geonord-OD.de"
caster_port: 2101
username: "gast"
password: "gast"
mountpoint: "RTCM4G"
version: "v2"
tls: true
fingerprint: ""
rtk_standard: "RTCMv3"
send_gga: "auto"
keep_open: true
Is there an easy way to check, why ntrip is not working? What i want to check is, if the receiver has internet access and can query corrections from the ntrip caster. Any hints on how to debug this? The web interface of the receiver does not show any activated ntrip streams.
In the ros2 branch the install link goes to 'https://docs.ros.org/en/humble/index.html' which is an older version? Should change it to 'https://docs.ros.org/en/iron/index.html'?
When I launch rover.launch with the rover.yaml file the /septentrio_gnss node does only publishes to /rosout and /tf topic.
I changed the device and adapted the baudrate for my device, the rest is default.
device: serial:/dev/ttyACM0
serial:
baudrate: 115200
rx_serial_port: ACM0
hw_flow_control: off
The node receives data via Serial port but does not publish any odometry or navsat messages.
process[septentrio_gnss-5]: started with pid [2744]
[DEBUG] [1690366183.397064203]: /septentrio_gnss: Called ROSaicNode() constructor..
[DEBUG] [1690366183.645232391]: /septentrio_gnss: IMU roll offset: 180.000000
[DEBUG] [1690366183.645283271]: /septentrio_gnss: IMU pitch offset: -0.000000
[DEBUG] [1690366183.645393205]: /septentrio_gnss: IMU yaw offset: -0.000000
[DEBUG] [1690366183.645429037]: /septentrio_gnss: Ant heading offset: -0.000000
[DEBUG] [1690366183.645457700]: /septentrio_gnss: Ant pitch offset: -0.000000
[ WARN] [1690366183.688190502]: /septentrio_gnss: AttEuler needs multi-antenna receiver. Multi-antenna setting automatically activated. Deactivate publishing of AttEuler if multi-antenna operation is not available.
[DEBUG] [1690366183.688234891]: /septentrio_gnss: Finished getROSParams() method
[DEBUG] [1690366183.688260394]: /septentrio_gnss: Called initializeIO() method
[DEBUG] [1690366183.688375014]: /septentrio_gnss: Searching for serial port/dev/ttyACM0
[DEBUG] [1690366183.688443967]: /septentrio_gnss: Leaving initializeIO() method
[DEBUG] [1690366183.688467093]: /septentrio_gnss: Called defineMessages() method
[DEBUG] [1690366183.688492509]: /septentrio_gnss: Key 4007 successfully inserted into multimap: true
[DEBUG] [1690366183.688517012]: /septentrio_gnss: Key 5906 successfully inserted into multimap: true
[DEBUG] [1690366183.688550000]: /septentrio_gnss: Called connect() method
[DEBUG] [1690366183.688594200]: /septentrio_gnss: Key 5908 successfully inserted into multimap: true
[DEBUG] [1690366183.688636792]: /septentrio_gnss: Key 5938 successfully inserted into multimap: true
[DEBUG] [1690366183.688673906]: /septentrio_gnss: Key 5939 successfully inserted into multimap: true
[DEBUG] [1690366183.688710510]: /septentrio_gnss: Key 4027 successfully inserted into multimap: true
[DEBUG] [1690366183.688751519]: /septentrio_gnss: Key NavSatFix successfully inserted into multimap: true
[DEBUG] [1690366183.688797077]: /septentrio_gnss: Key GPSFix successfully inserted into multimap: true
[DEBUG] [1690366183.688830181]: /septentrio_gnss: Key 4013 successfully inserted into multimap: true
[DEBUG] [1690366183.688869005]: /septentrio_gnss: Key 4001 successfully inserted into multimap: true
[DEBUG] [1690366183.688908102]: /septentrio_gnss: Key DiagnosticArray successfully inserted into multimap: true
[DEBUG] [1690366183.688948936]: /septentrio_gnss: Key 4014 successfully inserted into multimap: true
[DEBUG] [1690366183.689018041]: /septentrio_gnss: Key 4082 successfully inserted into multimap: true
[DEBUG] [1690366183.689061572]: /septentrio_gnss: Key 5902 successfully inserted into multimap: true
[DEBUG] [1690366183.689093404]: /septentrio_gnss: Leaving defineMessages() method
[DEBUG] [1690366183.689121600]: /septentrio_gnss: Called configureRx() method
[DEBUG] [1690366183.689148338]: /septentrio_gnss: Started timer for calling reconnect() method until connection succeeds
[DEBUG] [1690366183.689274291]: /septentrio_gnss: Called reconnect() method
[ INFO] [1690366183.689312854]: /septentrio_gnss: Connecting serially to device/dev/ttyACM0, targeted baudrate: 115200
[DEBUG] [1690366183.689339701]: /septentrio_gnss: Calling initializeSerial() method..
[ INFO] [1690366183.689493281]: /septentrio_gnss: Opened serial port /dev/ttyACM0
[DEBUG] [1690366183.689519236]: /septentrio_gnss: Our boost version is 106501.
[DEBUG] [1690366183.689556710]: /septentrio_gnss: Creating new Async-Manager object..
[DEBUG] [1690366183.689598457]: /septentrio_gnss: Setting the private stream variable of the AsyncManager instance.
[DEBUG] [1690366183.689724192]: /septentrio_gnss: Launching tryParsing() thread..
[DEBUG] [1690366183.689791967]: /septentrio_gnss: Called setManager() method
[DEBUG] [1690366183.689826916]: /septentrio_gnss: Leaving setManager() method
[DEBUG] [1690366183.689849724]: /septentrio_gnss: Gradually increasing the baudrate to the desired value...
[DEBUG] [1690366183.689870545]: /septentrio_gnss: Initiated current_baudrate object...
[DEBUG] [1690366183.689893544]: /septentrio_gnss: Current baudrate is 115200
[ INFO] [1690366183.689914272]: /septentrio_gnss: Set ASIO baudrate to 115200, leaving InitializeSerial() method
[DEBUG] [1690366183.689937896]: /septentrio_gnss: Leaving reconnect() method
[DEBUG] [1690366183.690029536]: /septentrio_gnss: Sent the following 22 bytes to the Rx:
SSSSSSSSSSSSSSSSSSS
[DEBUG] [1690366183.706319800]: /septentrio_gnss: Calling read_callback_() method, with number of bytes to be parsed being 108
[DEBUG] [1690366183.724224402]: /septentrio_gnss: Calling read_callback_() method, with number of bytes to be parsed being 19
[DEBUG] [1690366183.754251459]: /septentrio_gnss: Calling read_callback_() method, with number of bytes to be parsed being 93
[DEBUG] [1690366183.808427245]: /septentrio_gnss: Calling read_callback_() method, with number of bytes to be parsed being 128
[DEBUG] [1690366183.808860588]: /septentrio_gnss: The NMEA message contains 125 bytes and is ready to be parsed. It reads: $GPGGA,000217.699,,,,,0,0,,,M,,M,,*4A???;
[DEBUG] [1690366183.809268898]: /septentrio_gnss: The NMEA message contains 49 bytes and is ready to be parsed. It reads: $GPGSA,A,1,,,,,,,,,,,,,,,*1E???/
[DEBUG] [1690366183.910394340]: /septentrio_gnss: Calling read_callback_() method, with number of bytes to be parsed being 108
[DEBUG] [1690366183.910556725]: /septentrio_gnss: The NMEA message contains 105 bytes and is ready to be parsed. It reads: $GPGGA,000217.800,,,,,0,0,,,M,,M,,*44I??;
[DEBUG] [1690366183.910746510]: /septentrio_gnss: The NMEA message contains 29 bytes and is ready to be parsed. It reads: $GPGSA,A,1,,,,,,,,,,,,,,,*1E,
[DEBUG] [1690366183.958226057]: /septentrio_gnss: Calling read_callback_() method, with number of bytes to be parsed being 93
[DEBUG] [1690366184.012219790]: /septentrio_gnss: Calling read_callback_() method, with number of bytes to be parsed being 153
[DEBUG] [1690366184.012419647]: /septentrio_gnss: The NMEA message contains 115 bytes and is ready to be parsed. It reads: $GPGSA,A,1,,,,,,,,,,,,,,,*1E]??N
[DEBUG] [1690366184.012669385]: /septentrio_gnss: The NMEA message contains 48 bytes and is ready to be parsed. It reads: $GPRMC,000217.900,V,,,,,0.00,0.00,060180,,,N*4F?
[DEBUG] [1690366184.018143287]: /septentrio_gnss: Calling read_callback_() method, with number of bytes to be parsed being 74
[DEBUG] [1690366184.018247420]: /septentrio_gnss: The NMEA message contains 36 bytes and is ready to be parsed. It reads: $GPVTG,0.00,T,,M,0.00,N,0.00,K,N*32�
[DEBUG] [1690366184.060196756]: /septentrio_gnss: Calling read_callback_() method, with number of bytes to be parsed being 93
[DEBUG] [1690366184.108256178]: /septentrio_gnss: Calling read_callback_() method, with number of bytes to be parsed being 112
~$ rosnode info /septentrio_gnss
--------------------------------------------------------------------------------
Node [/septentrio_gnss]
Publications:
* /rosout [rosgraph_msgs/Log]
* /tf [tf2_msgs/TFMessage]
Subscriptions:
* /tf [tf2_msgs/TFMessage]
* /tf_static [tf2_msgs/TFMessage]
Services:
* /septentrio_gnss/get_loggers
* /septentrio_gnss/set_logger_level
contacting node http://cpr-j100-0405:38911/ ...
Pid: 3924
Connections:
* topic: /rosout
* to: /rosout
* direction: outbound (54435 - 127.0.0.1:41072) [27]
* transport: TCPROS
* topic: /tf
* to: /septentrio_gnss
* direction: outbound
* transport: INTRAPROCESS
* topic: /tf
* to: /ekf_localization
* direction: outbound (54435 - 127.0.0.1:41076) [28]
* transport: TCPROS
* topic: /tf
* to: /septentrio_gnss (http://cpr-j100-0405:38911/)
* direction: inbound
* transport: INTRAPROCESS
* topic: /tf
* to: /imu_filter (http://cpr-j100-0405:40707/)
* direction: inbound (38974 - cpr-j100-0405:42223) [23]
* transport: TCPROS
* topic: /tf
* to: /robot_state_publisher (http://cpr-j100-0405:38435/)
* direction: inbound (34090 - cpr-j100-0405:51243) [24]
* transport: TCPROS
* topic: /tf
* to: /ekf_localization (http://cpr-j100-0405:38215/)
* direction: inbound (39748 - cpr-j100-0405:42899) [25]
* transport: TCPROS
* topic: /tf
* to: /jackal_node (http://cpr-j100-0405:41095/)
* direction: inbound (56602 - cpr-j100-0405:55757) [26]
* transport: TCPROS
* topic: /tf_static
* to: /robot_state_publisher (http://cpr-j100-0405:38435/)
* direction: inbound (34074 - cpr-j100-0405:51243) [21]
* transport: TCPROS
* topic: /tf_static
* to: /tf_imu (http://cpr-j100-0405:35627/)
* direction: inbound (39558 - cpr-j100-0405:57601) [22]
* transport: TCPROS
* topic: /tf_static
* to: /tf_gnss (http://cpr-j100-0405:44081/)
* direction: inbound (50422 - cpr-j100-0405:34431) [29]
* transport: TCPROS
* topic: /tf_static
* to: /tf_vsm (http://cpr-j100-0405:38325/)
* direction: inbound (59446 - cpr-j100-0405:59081) [30]
* transport: TCPROS
* topic: /tf_static
* to: /tf_aux1 (http://cpr-j100-0405:34213/)
* direction: inbound (37030 - cpr-j100-0405:50933) [31]
* transport: TCPROS
I know the device is currently reporting nonsense NMEA sentences, but I assumed that the node still would advertise any topics, or am I wrong there.
Maybe someone can help me with my issue,
thanks in advance.
Using ros1 driver to get rostopic echo /septentrio_gnss/pose
outputs the x,y in lat, long and z in meters.
How could we get the ecef coordinates ?
Hi
I'm using ROS 2 (Humble on Ubuntu 22.04) with the septentrio_gnss_driver with mosaic-H and dual antenna setup. In the web gui I can see that a heading and pitch are being correctly reported. However the ROS "pose" topic contains only ".nan" for the "orientation" field.
Are you able to help please?
Good afternoon,
We are using the mosaic-H module in dual-antenna setup and have checked that the "multi-antenna" mode was selected, both in the config/rover.yaml that we are using and in the web interface.
Nonetheless, we are still faced with a value of -20000000000 in the fields "track", "pitch" and "roll" as long as the mosaic-H module is not moving, and as soon as it's not moving anymore. These fields do provide us with correct values when moving, but it's as if the module were in "MovingBase" mode (which it's not supposed to be in).
Moreover, contrary to another issue we read, in the "/atteuler" topic the "heading" field also displays a value of -20000000000 when the mosaic-H is at a standstill.
Could the issue stem from septentrio_gnss_driver?
Thank you very much for your time and attention
We are using the following setting file on the yaml file. The ntrip settings work using the datalink, but not the ros driver.
# Configuration Settings for the Rover Rx
# GNSS/INS Parameters
device: tcp://192.168.3.1:28784
serial:
baudrate: 921600
hw_flow_control: "off"
stream_device:
tcp:
ip_server: ""
port: 0
udp:
ip_server: ""
port: 0
unicast_ip: ""
configure_rx: true
login:
user: ""
password: ""
osnma:
mode: "loose"
ntp_server: ""
keep_open: true
frame_id: gnss
aux1_frame_id: aux1
get_spatial_config_from_tf: true
use_ros_axis_orientation: true
receiver_type: gnss
multi_antenna: false
datum: Default
att_offset:
heading: 0.0
pitch: 0.0
ant_type: "Unknown"
ant_serial_nr: "Unknown"
ant_aux1_type: "Unknown"
ant_aux1_serial_nr: "Unknown"
polling_period:
pvt: 0
rest: 500
use_gnss_time: false
latency_compensation: false
rtk_settings:
ntrip_1:
id: "RTS1"
caster: "xx.com"
caster_port: 2101
username: "aa"
password: "aa"
mountpoint: "aa"
version: "v2"
tls: false
fingerprint: ""
rtk_standard: "auto"
send_gga: "auto"
keep_open: true
ip_server_1:
id: ""
port: 0
rtk_standard: "auto"
send_gga: "auto"
keep_open: true
serial_1:
port: ""
baud_rate: 115200
rtk_standard: "auto"
send_gga: "auto"
keep_open: true
publish:
# For both GNSS and INS Rxs
navsatfix: true
gpsfix: true
gpgga: true
gprmc: true
gpst: true
measepoch: true
pvtcartesian: true
pvtgeodetic: true
basevectorcart: false
basevectorgeod: false
poscovcartesian: true
poscovgeodetic: true
velcovcartesian: false
velcovgeodetic: true
atteuler: false
attcoveuler: true
pose: true
twist: false
diagnostics: true
aimplusstatus: true
galauthstatus: false
# For GNSS Rx only
gpgsa: false
gpgsv: false
# logger
activate_debug_log: true
Terminal output
CLEAR PARAMETERS
* /septentrio_gnss/
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.16.0
* /septentrio_gnss/activate_debug_log: True
* /septentrio_gnss/ant_aux1_serial_nr: Unknown
* /septentrio_gnss/ant_aux1_type: Unknown
* /septentrio_gnss/ant_serial_nr: Unknown
* /septentrio_gnss/ant_type: Unknown
* /septentrio_gnss/att_offset/heading: 0.0
* /septentrio_gnss/att_offset/pitch: 0.0
* /septentrio_gnss/aux1_frame_id: aux1
* /septentrio_gnss/configure_rx: True
* /septentrio_gnss/datum: Default
* /septentrio_gnss/device: tcp://192.168.3.1...
* /septentrio_gnss/frame_id: gnss
* /septentrio_gnss/get_spatial_config_from_tf: True
* /septentrio_gnss/latency_compensation: False
* /septentrio_gnss/login/password:
* /septentrio_gnss/login/user:
* /septentrio_gnss/multi_antenna: False
* /septentrio_gnss/osnma/keep_open: True
* /septentrio_gnss/osnma/mode: loose
* /septentrio_gnss/osnma/ntp_server:
* /septentrio_gnss/polling_period/pvt: 0
* /septentrio_gnss/polling_period/rest: 500
* /septentrio_gnss/publish/aimplusstatus: True
* /septentrio_gnss/publish/attcoveuler: True
* /septentrio_gnss/publish/atteuler: False
* /septentrio_gnss/publish/basevectorcart: False
* /septentrio_gnss/publish/basevectorgeod: False
* /septentrio_gnss/publish/diagnostics: True
* /septentrio_gnss/publish/galauthstatus: False
* /septentrio_gnss/publish/gpgga: True
* /septentrio_gnss/publish/gpgsa: False
* /septentrio_gnss/publish/gpgsv: False
* /septentrio_gnss/publish/gprmc: True
* /septentrio_gnss/publish/gpsfix: True
* /septentrio_gnss/publish/gpst: True
* /septentrio_gnss/publish/measepoch: True
* /septentrio_gnss/publish/navsatfix: True
* /septentrio_gnss/publish/poscovcartesian: True
* /septentrio_gnss/publish/poscovgeodetic: True
* /septentrio_gnss/publish/pose: True
* /septentrio_gnss/publish/pvtcartesian: True
* /septentrio_gnss/publish/pvtgeodetic: True
* /septentrio_gnss/publish/twist: False
* /septentrio_gnss/publish/velcovcartesian: False
* /septentrio_gnss/publish/velcovgeodetic: True
* /septentrio_gnss/receiver_type: gnss
* /septentrio_gnss/rtk_settings/ip_server_1/id:
* /septentrio_gnss/rtk_settings/ip_server_1/keep_open: True
* /septentrio_gnss/rtk_settings/ip_server_1/port: 0
* /septentrio_gnss/rtk_settings/ip_server_1/rtk_standard: auto
* /septentrio_gnss/rtk_settings/ip_server_1/send_gga: auto
* /septentrio_gnss/rtk_settings/ntrip_1/caster: polaris.pointonen...
* /septentrio_gnss/rtk_settings/ntrip_1/caster_port: 2101
* /septentrio_gnss/rtk_settings/ntrip_1/fingerprint:
* /septentrio_gnss/rtk_settings/ntrip_1/id: RTS1
* /septentrio_gnss/rtk_settings/ntrip_1/keep_open: True
* /septentrio_gnss/rtk_settings/ntrip_1/mountpoint: POLARIS
* /septentrio_gnss/rtk_settings/ntrip_1/password: boHKUXL6
* /septentrio_gnss/rtk_settings/ntrip_1/rtk_standard: auto
* /septentrio_gnss/rtk_settings/ntrip_1/send_gga: auto
* /septentrio_gnss/rtk_settings/ntrip_1/tls: False
* /septentrio_gnss/rtk_settings/ntrip_1/username: uiVKaM9I
* /septentrio_gnss/rtk_settings/ntrip_1/version: v2
* /septentrio_gnss/rtk_settings/serial_1/baud_rate: 115200
* /septentrio_gnss/rtk_settings/serial_1/keep_open: True
* /septentrio_gnss/rtk_settings/serial_1/port:
* /septentrio_gnss/rtk_settings/serial_1/rtk_standard: auto
* /septentrio_gnss/rtk_settings/serial_1/send_gga: auto
* /septentrio_gnss/serial/baudrate: 921600
* /septentrio_gnss/serial/hw_flow_control: off
* /septentrio_gnss/stream_device/tcp/ip_server:
* /septentrio_gnss/stream_device/tcp/port: 0
* /septentrio_gnss/stream_device/udp/ip_server:
* /septentrio_gnss/stream_device/udp/port: 0
* /septentrio_gnss/stream_device/udp/unicast_ip:
* /septentrio_gnss/use_gnss_time: False
* /septentrio_gnss/use_ros_axis_orientation: True
NODES
/
septentrio_gnss (septentrio_gnss_driver/septentrio_gnss_driver_node)
tf_aux1 (tf2_ros/static_transform_publisher)
tf_gnss (tf2_ros/static_transform_publisher)
tf_imu (tf2_ros/static_transform_publisher)
tf_vsm (tf2_ros/static_transform_publisher)
auto-starting new master
process[master]: started with pid [98532]
ROS_MASTER_URI=http://192.168.68.102:11311
setting /run_id to c8cbb85e-d5c5-11ee-bad2-7336b3283a47
process[rosout-1]: started with pid [98542]
started core service [/rosout]
process[tf_imu-2]: started with pid [98550]
process[tf_gnss-3]: started with pid [98551]
process[tf_vsm-4]: started with pid [98552]
process[tf_aux1-5]: started with pid [98554]
process[septentrio_gnss-6]: started with pid [98564]
[DEBUG] [1709075595.367863620]: /septentrio_gnss: Called ROSaicNode() constructor..
[DEBUG] [1709075595.383316718]: /septentrio_gnss: IMU roll offset: 180.000000
[DEBUG] [1709075595.383354303]: /septentrio_gnss: IMU pitch offset: -0.000000
[DEBUG] [1709075595.383366723]: /septentrio_gnss: IMU yaw offset: -0.000000
[DEBUG] [1709075595.383378147]: /septentrio_gnss: Ant heading offset: -0.000000
[DEBUG] [1709075595.383389239]: /septentrio_gnss: Ant pitch offset: -0.000000
[DEBUG] [1709075595.387879735]: /septentrio_gnss: Finished getROSParams() method
[DEBUG] [1709075595.387890406]: /septentrio_gnss: Called connect() method
[DEBUG] [1709075595.387895906]: /septentrio_gnss: Started timer for calling connect() method until connection succeeds
[DEBUG] [1709075595.387917853]: /septentrio_gnss: Called initializeIo() method
[DEBUG] [1709075595.387924438]: /septentrio_gnss: AsyncManager created.
[ INFO] [1709075595.388044026]: /septentrio_gnss: Connecting to tcp://192.168.3.1:28784...
[ INFO] [1709075595.388872117]: /septentrio_gnss: Connected to 192.168.3.1:28784.
[DEBUG] [1709075595.388943473]: /septentrio_gnss: Configure Rx.
[DEBUG] [1709075595.388951642]: /septentrio_gnss: Called configureRx() method
SSSSSSSSSS709075595.389037128]: /septentrio_gnss: AsyncManager sent the following 13 bytes to the Rx:
[DEBUG] [1709075595.403938667]: /septentrio_gnss: handleCd: IP10>
SSSSSSSSSS709075595.404046424]: /septentrio_gnss: AsyncManager sent the following 13 bytes to the Rx:
[DEBUG] [1709075595.405578521]: /septentrio_gnss: handleCd: IP10>
SSSSSSSSSS709075595.405701652]: /septentrio_gnss: AsyncManager sent the following 13 bytes to the Rx:
[DEBUG] [1709075595.406815184]: /septentrio_gnss: handleCd: IP10>
[ INFO] [1709075595.406940210]: /septentrio_gnss: The connection descriptor is IP10
[ INFO] [1709075595.406972489]: /septentrio_gnss: Setting up Rx.
[DEBUG] [1709075595.407035277]: /septentrio_gnss: AsyncManager sent the following 27 bytes to the Rx: sso, all, none, none, off
[DEBUG] [1709075595.428538794]: Trying to publish message of type [septentrio_gnss_driver/MeasEpoch/4cf9a1d78edfe10d2a772f4a50dd0645] on a publisher with type [septentrio_gnss_driver/MeasEpoch/4cf9a1d78edfe10d2a772f4a50dd0645]
[DEBUG] [1709075595.429645219]: Trying to publish message of type [septentrio_gnss_driver/PVTCartesian/98b7f07c88704d34a9797ee6019c2d54] on a publisher with type [septentrio_gnss_driver/PVTCartesian/98b7f07c88704d34a9797ee6019c2d54]
[DEBUG] [1709075595.430732756]: Trying to publish message of type [septentrio_gnss_driver/PVTGeodetic/4d3911a0efd862e13c076ba7d322cd3e] on a publisher with type [septentrio_gnss_driver/PVTGeodetic/4d3911a0efd862e13c076ba7d322cd3e]
[DEBUG] [1709075595.431444311]: Trying to publish message of type [sensor_msgs/TimeReference/fded64a0265108ba86c3d38fb11c0c16] on a publisher with type [sensor_msgs/TimeReference/fded64a0265108ba86c3d38fb11c0c16]
[DEBUG] [1709075595.432126714]: Trying to publish message of type [septentrio_gnss_driver/PosCovCartesian/6f9c694efd927f0282537b2693bfa92f] on a publisher with type [septentrio_gnss_driver/PosCovCartesian/6f9c694efd927f0282537b2693bfa92f]
[DEBUG] [1709075595.432918284]: Trying to publish message of type [septentrio_gnss_driver/PosCovGeodetic/d5a0ad571ba33ff67cc97dcff03d6b87] on a publisher with type [septentrio_gnss_driver/PosCovGeodetic/d5a0ad571ba33ff67cc97dcff03d6b87]
[DEBUG] [1709075595.433642995]: Trying to publish message of type [sensor_msgs/NavSatFix/2d3a8cd499b9b4a0249fb98fd05cfa48] on a publisher with type [sensor_msgs/NavSatFix/2d3a8cd499b9b4a0249fb98fd05cfa48]
[DEBUG] [1709075595.434409445]: Trying to publish message of type [septentrio_gnss_driver/VelCovGeodetic/b62aa4ae504c44f18ac72015246a1586] on a publisher with type [septentrio_gnss_driver/VelCovGeodetic/b62aa4ae504c44f18ac72015246a1586]
[DEBUG] [1709075595.435125066]: Trying to publish message of type [septentrio_gnss_driver/AttCovEuler/e0afc6c2dfb1f98f719a573ace215ea7] on a publisher with type [septentrio_gnss_driver/AttCovEuler/e0afc6c2dfb1f98f719a573ace215ea7]
[DEBUG] [1709075595.435734713]: Trying to publish message of type [geometry_msgs/PoseWithCovarianceStamped/953b798c0f514ff060a53a3498ce6246] on a publisher with type [geometry_msgs/PoseWithCovarianceStamped/953b798c0f514ff060a53a3498ce6246]
[DEBUG] [1709075595.436311908]: Trying to publish message of type [gps_common/GPSFix/3db3d0a7bc53054c67c528af84710b70] on a publisher with type [gps_common/GPSFix/3db3d0a7bc53054c67c528af84710b70]
[DEBUG] [1709075595.490975271]: /septentrio_gnss: The Rx's response contains 32 bytes and reads:
$R: sso, all, none, none, off
[DEBUG] [1709075595.491062759]: /septentrio_gnss: A message received: SBFOutput, Stream1, none, none, off
[DEBUG] [1709075595.491095212]: /septentrio_gnss: A message received: SBFOutput, Stream2, none, none, off
[DEBUG] [1709075595.491123871]: /septentrio_gnss: A message received: SBFOutput, Stream3, none, none, off
[DEBUG] [1709075595.491177354]: /septentrio_gnss: A message received: SBFOutput, Stream4, none, none, off
[DEBUG] [1709075595.491285265]: /septentrio_gnss: AsyncManager sent the following 27 bytes to the Rx: sno, all, none, none, off
[DEBUG] [1709075595.491515849]: /septentrio_gnss: A message received: SBFOutput, Stream5, none, none, off
[DEBUG] [1709075595.491590317]: /septentrio_gnss: A message received: SBFOutput, Stream6, none, none, off
[DEBUG] [1709075595.491622001]: /septentrio_gnss: A message received: SBFOutput, Stream7, none, none, off
[DEBUG] [1709075595.491668219]: /septentrio_gnss: A message received: SBFOutput, Stream8, none, none, off
[DEBUG] [1709075595.491751402]: /septentrio_gnss: A message received: SBFOutput, Stream9, none, none, off
[DEBUG] [1709075595.491838651]: /septentrio_gnss: A message received: SBFOutput, Stream10, none, none, off
[DEBUG] [1709075595.491916533]: /septentrio_gnss: A message received: SBFOutput, Res1, none, none, off
[DEBUG] [1709075595.491993608]: /septentrio_gnss: A message received: SBFOutput, Res2, none, none, off
[DEBUG] [1709075595.492071214]: /septentrio_gnss: A message received: SBFOutput, Res3, none, none, off
[DEBUG] [1709075595.492149196]: /septentrio_gnss: A message received: SBFOutput, Res4, none, none, off
[DEBUG] [1709075595.492185889]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.549991918]: /septentrio_gnss: The Rx's response contains 32 bytes and reads:
$R: sno, all, none, none, off
[DEBUG] [1709075595.550074017]: /septentrio_gnss: A message received: NMEAOutput, Stream1, none, none, off
[DEBUG] [1709075595.550099842]: /septentrio_gnss: A message received: NMEAOutput, Stream2, none, none, off
[DEBUG] [1709075595.550122400]: /septentrio_gnss: A message received: NMEAOutput, Stream3, none, none, off
[DEBUG] [1709075595.550242128]: /septentrio_gnss: AsyncManager sent the following 5 bytes to the Rx: grc
[DEBUG] [1709075595.550462847]: /septentrio_gnss: A message received: NMEAOutput, Stream4, none, none, off
[DEBUG] [1709075595.550531727]: /septentrio_gnss: A message received: NMEAOutput, Stream5, none, none, off
[DEBUG] [1709075595.550586772]: /septentrio_gnss: A message received: NMEAOutput, Stream6, none, none, off
[DEBUG] [1709075595.550772650]: /septentrio_gnss: A message received: NMEAOutput, Stream7, none, none, off
[DEBUG] [1709075595.550833508]: /septentrio_gnss: A message received: NMEAOutput, Stream8, none, none, off
[DEBUG] [1709075595.550901293]: /septentrio_gnss: A message received: NMEAOutput, Stream9, none, none, off
[DEBUG] [1709075595.551076863]: /septentrio_gnss: A message received: NMEAOutput, Stream10, none, none, off
[DEBUG] [1709075595.551140046]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.552215942]: /septentrio_gnss: The Rx's response contains 10 bytes and reads:
$R: grc
[DEBUG] [1709075595.553256576]: /septentrio_gnss: A message received: ReceiverCapabilities, Main, GPSL1CA+GPSL1PY+GPSL2PY+GPSL2C+GPSL5+GLOL1CA+GLOL2P+GLOL2CA+GLOL3+GALL1BC+GALE6BC+GALE5a+GALE5b+GALE5+GEOL1+GEOL5+BDSB1I+BDSB2I+BDSB3I+BDSB1C+BDSB2a+BDSB2b+QZSL1CA+QZSL2C+QZSL5+QZSL1CB+LBAND+NAVICL5, DSK1+COM1+COM2+COM3+COM4+USB1+USB2+IP10+IP11+IP12+IP13+IP14+IP15+IP16+IP17+NTR1+NTR2+NTR3+NTR4+IPS1+IPS2+IPS3+IPS4+IPS5+IPR1+IPR2+IPR3+IPR4+IPR5, SBAS+DGNSSRover+DGNSSBase+RTKRover+RTKBase+RTCMv23+RTCMv3x+CMRv20+xPPSOutput+TimedEvent+InternalLogging+APME+RAIM+MovingBase+MeasAv+IM+DSK1, 10, 10
[DEBUG] [1709075595.553332195]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.553421639]: /septentrio_gnss: AsyncManager sent the following 11 bytes to the Rx: sgd, WGS84
[DEBUG] [1709075595.611827318]: /septentrio_gnss: The Rx's response contains 16 bytes and reads:
$R: sgd, WGS84
[DEBUG] [1709075595.611927238]: /septentrio_gnss: A message received: GeodeticDatum, WGS84
[DEBUG] [1709075595.611973033]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.612127415]: /septentrio_gnss: AsyncManager sent the following 51 bytes to the Rx: sao, Main, 0.000, 0.000, 0.000, "Unknown", Unknown
[DEBUG] [1709075595.671291174]: /septentrio_gnss: The Rx's response contains 56 bytes and reads:
$R: sao, Main, 0.000, 0.000, 0.000, "Unknown", Unknown
[DEBUG] [1709075595.671381465]: /septentrio_gnss: A message received: AntennaOffset, Main, 0.0000, 0.0000, 0.0000, "Unknown", "Unknown", 0
[DEBUG] [1709075595.671421395]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.671605275]: /septentrio_gnss: AsyncManager sent the following 17 bytes to the Rx: snts, RTS1, off
[ERROR] [1709075595.673451374]: /septentrio_gnss: Invalid command just sent to the Rx! The Rx's response contains 57 bytes and reads:
$R? setNtripSettings: Tabular argument 'Cd' is invalid!
[DEBUG] [1709075595.673473856]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.673526592]: /septentrio_gnss: AsyncManager sent the following 90 bytes to the Rx: snts, RTS1, Client, polaris.pointonenav.com, 2101, uiVKaM9I, boHKUXL6, POLARIS, v2, auto
[ERROR] [1709075595.675336276]: /septentrio_gnss: Invalid command just sent to the Rx! The Rx's response contains 57 bytes and reads:
$R? setNtripSettings: Tabular argument 'Cd' is invalid!
[DEBUG] [1709075595.675358074]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.675400714]: /septentrio_gnss: AsyncManager sent the following 17 bytes to the Rx: sntt, RTS1, off
[ERROR] [1709075595.677072412]: /septentrio_gnss: Invalid command just sent to the Rx! The Rx's response contains 60 bytes and reads:
$R? setNtripTlsSettings: Tabular argument 'Cd' is invalid!
[DEBUG] [1709075595.677112870]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.677216136]: /septentrio_gnss: AsyncManager sent the following 11 bytes to the Rx: sga, none
[DEBUG] [1709075595.736061589]: /septentrio_gnss: The Rx's response contains 16 bytes and reads:
$R: sga, none
[DEBUG] [1709075595.736129061]: /septentrio_gnss: A message received: GNSSAttitude, none
[DEBUG] [1709075595.736150843]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.736243022]: /septentrio_gnss: AsyncManager sent the following 21 bytes to the Rx: sto, -0.000, -0.000
[DEBUG] [1709075595.795349426]: /septentrio_gnss: The Rx's response contains 26 bytes and reads:
$R: sto, -0.000, -0.000
[DEBUG] [1709075595.795496903]: /septentrio_gnss: A message received: AttitudeOffset, 0.000, 0.000
[DEBUG] [1709075595.795553166]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.795676391]: /septentrio_gnss: AsyncManager sent the following 12 bytes to the Rx: sou, loose
[DEBUG] [1709075595.857391424]: /septentrio_gnss: The Rx's response contains 17 bytes and reads:
$R: sou, loose
[DEBUG] [1709075595.857453209]: /septentrio_gnss: A message received: GalOSNMAUsage, loose, ""
[DEBUG] [1709075595.857477795]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.857563631]: /septentrio_gnss: AsyncManager sent the following 97 bytes to the Rx: sso, Stream1, IP10, +ReceiverStatus +QualityInd +RFStatus +GALAuthStatus +ReceiverSetup, msec500
[DEBUG] [1709075595.860315670]: /septentrio_gnss: receiver setup firmware: 4.14.4
[DEBUG] [1709075595.917653463]: /septentrio_gnss: The Rx's response contains 102 bytes and reads:
$R: sso, Stream1, IP10, +ReceiverStatus +QualityInd +RFStatus +GALAuthStatus +ReceiverSetup, msec500
[DEBUG] [1709075595.917785424]: /septentrio_gnss: A message received: SBFOutput, Stream1, IP10, GALAuthStatus+ReceiverStatus+ReceiverSetup+QualityInd+RFStatus, msec500
[DEBUG] [1709075595.917927314]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.918011800]: /septentrio_gnss: AsyncManager sent the following 13 bytes to the Rx: sop, "", ""
[DEBUG] [1709075595.920298971]: /septentrio_gnss: receiver setup firmware: 4.14.4
[DEBUG] [1709075595.977278544]: /septentrio_gnss: The Rx's response contains 18 bytes and reads:
$R: sop, "", ""
[DEBUG] [1709075595.977370351]: /septentrio_gnss: A message received: ObserverParameters, "", ""
[DEBUG] [1709075595.977432868]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.977607395]: /septentrio_gnss: AsyncManager sent the following 9 bytes to the Rx: snti, GP
[DEBUG] [1709075596.007533785]: Trying to publish message of type [diagnostic_msgs/DiagnosticArray/60810da900de1dd6ddd437c3503511da] on a publisher with type [diagnostic_msgs/DiagnosticArray/60810da900de1dd6ddd437c3503511da]
[DEBUG] [1709075596.008823839]: Trying to publish message of type [septentrio_gnss_driver/RFStatus/6223e703baf4d3da19e391be72a94d34] on a publisher with type [septentrio_gnss_driver/RFStatus/6223e703baf4d3da19e391be72a94d34]
[DEBUG] [1709075596.010103838]: Trying to publish message of type [septentrio_gnss_driver/AIMPlusStatus/85cf4fc2fc2598dca0b9bb856cb2dcdd] on a publisher with type [septentrio_gnss_driver/AIMPlusStatus/85cf4fc2fc2598dca0b9bb856cb2dcdd]
[DEBUG] [1709075596.035534132]: /septentrio_gnss: The Rx's response contains 14 bytes and reads:
$R: snti, GP
[DEBUG] [1709075596.035569626]: /septentrio_gnss: A message received: NMEATalkerID, GP
[DEBUG] [1709075596.035582183]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075596.035636264]: /septentrio_gnss: AsyncManager sent the following 40 bytes to the Rx: sno, Stream2, IP10, +GGA +RMC, OnChange
[DEBUG] [1709075596.108394140]: Trying to publish message of type [nmea_msgs/Gprmc/02533bac67f17457b2e3538525ba1aae] on a publisher with type [nmea_msgs/Gprmc/02533bac67f17457b2e3538525ba1aae]
[DEBUG] [1709075596.109505008]: Trying to publish message of type [nmea_msgs/Gpgga/8f51cb504898f39d8ad9f698f0b6f9cd] on a publisher with type [nmea_msgs/Gpgga/8f51cb504898f39d8ad9f698f0b6f9cd]
[DEBUG] [1709075596.126800061]: /septentrio_gnss: The Rx's response contains 45 bytes and reads:
$R: sno, Stream2, IP10, +GGA +RMC, OnChange
[DEBUG] [1709075596.126878306]: /septentrio_gnss: A message received: NMEAOutput, Stream2, IP10, GGA+RMC, OnChange
[DEBUG] [1709075596.126915276]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075596.127053735]: /septentrio_gnss: AsyncManager sent the following 174 bytes to the Rx: sso, Stream3, IP10, +ReceiverTime +PVTCartesian +PVTGeodetic +PosCovCartesian +PosCovGeodetic +VelCovGeodetic +AttEuler +AttCovEuler +MeasEpoch +ChannelStatus +DOP, OnChange
[DEBUG] [1709075596.188288429]: /septentrio_gnss: The Rx's response contains 179 bytes and reads:
$R: sso, Stream3, IP10, +ReceiverTime +PVTCartesian +PVTGeodetic +PosCovCartesian +PosCovGeodetic +VelCovGeodetic +AttEuler +AttCovEuler +MeasEpoch +ChannelStatus +DOP, OnChange
[DEBUG] [1709075596.188505461]: /septentrio_gnss: A message received: SBFOutput, Stream3, IP10, MeasEpoch+AttEuler+PVTCartesian+PosCovCartesian+PVTGeodetic+PosCovGeodetic+VelCovGeodetic+DOP+ReceiverTime+ChannelStatus+AttCovEuler, OnChange
[DEBUG] [1709075596.188548986]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075596.188709547]: /septentrio_gnss: Leaving configureRx() method
[ INFO] [1709075596.188769319]: /septentrio_gnss: Setup complete.
[DEBUG] [1709075596.188799802]: /septentrio_gnss: Successully connected. Leaving connect() method
[DEBUG] [1709075596.188869958]: /septentrio_gnss: Leaving ROSaicNode() constructor..
Hi,
We used the septentrio_gnss_driver with mosaic-H module and read the heading angle of ROS topic /atteuler. We found the heading/attitude angle of /atteuler was (1) not consistent with the heading angle from the web gui. (2) wrong at North, the heading angle of main antenna pointing to the aux antenna was 270. Should it be 0 or 360?
For example, taking the vector of the main antenna pointing to the aux antenna,
North: 0 degree
East: 90 degree
South: 180 degree
West: 270 degree
However, the output heading angle of /atteuler was confusing.
Thanks!
Greetings,
I've tried the driver with Raspberry Pi Serial and it's not working well.
I believe it's a problem with receiving/parsing SBF bytes. Sometimes it parses small byte chunks (like 1 byte).
The problem doesn't happen with USB serial. Maybe because it's virtual.
Thanks a lot
"Additional ROS packages have to be installed for the NMEA and GPSFix messages.
sudo apt install ros-$ROS_DISTRO-nmea-msgs ros-$ROS_DISTRO-gps-msgs"
This does not work and my DISTRO is Galactic and using ros2.
Error I gotten is
"E: Unable to locate package ros-galactic-nmea-msgs
E: Unable to locate package ros-galactic-gps-msgs"
I followed all the steps and cloned it already. What should I do?
Hi,
I have a recorded SBF log file and want to use this ros driver to publish from it.
Is there any way to modify the code to do so?
I have a problem connecting to the Mosaic-X5 Board via USB connection. The setup is complete but the data streams never start:
Driver output, where the receiver hangs: `[ INFO] [1695217621.574985984]: /septentrio_gnss: Setup complete.
[DEBUG] [1695217621.575028507]: /septentrio_gnss: Successully connected. Leaving connect() method
[DEBUG] [1695217621.575107190]: /septentrio_gnss: Leaving ROSaicNode() constructor..
[DEBUG] [1695217621.575844638]: /septentrio_gnss: A message received: SBFOutput, Stream3, USB2, MeasEpoch+AttEuler+PVTCartesian+PVTGeodetic+PosCovGeodetic+VelCovGeodetic+DOP+ReceiverTime+ChannelStatus+AttCovEuler, msec50
[DEBUG] [1695217621.575914777]: /septentrio_gnss: handleCd: USB2>`
I have mobile robot setup with INS receiver + dual antenna setup and an active subscription with a local RTK provider over internet.
I have been observing a discrepancy between reported status/ gps quality from ros msgs /gpsfix.status.status
/navsatfix.status.status
and what the Septentrio web ui and the actual NMEA msg logged on the receiver itself.
On my tests I see msgs published with status 0 most of the time and jumps to 2 (augmented fix) a couple of times over multiple experiments while the frontend shows Fixed pose and GGA NMEA shows quality indicator 4 (RTK Fixed
) and GNS mode indicator RRRN (Real-Time Kinematic. Satellite system used in RTK mode with fixed integers
):
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$INGNS | 90200 | 5051.890218 | N | 440.1211738 | E | RRRN | 13 | 0.9
$INGGA | 90200.5 | 5051.890219 | N | 440.1211744 | E | 4 | 15 | 0.8
$INGNS | 90200.5 | 5051.890219 | N | 440.1211744 | E | RRRN | 15 | 0.8
$INGGA | 90201 | 5051.890217 | N | 440.121174 | E | 4 | 14 | 0.8
$INGNS | 90201 | 5051.890217 | N | 440.121174 | E | RRRN | 14 | 0.8
$INGGA | 90201.5 | 5051.890216 | N | 440.121175 | E | 4 | 15 | 0.8
$INGNS | 90201.5 | 5051.890216 | N | 440.121175 | E | RRRN | 15 | 0.8
$INGGA | 90202 | 5051.890216 | N | 440.1211736 | E | 4 | 15 | 0.8
$INGNS | 90202 | 5051.890216 | N | 440.1211736 | E | RRRN | 15 | 0.8
$INGGA | 90202.5 | 5051.890216 | N | 440.1211737 | E | 4 | 15 | 0.8
$INGNS | 90202.5 | 5051.890216 | N | 440.1211737 | E | RRRN | 15 | 0.8
$INGGA | 90203 | 5051.890216 | N | 440.1211733 | E | 4 | 15 | 0.8
$INGNS | 90203 | 5051.890216 | N | 440.1211733 | E | RRRN | 15 | 0.8
$INGGA | 90203.5 | 5051.890215 | N | 440.1211735 | E | 4 | 15 | 0.8
$INGNS | 90203.5 | 5051.890215 | N | 440.1211735 | E | RRRN | 15 | 0.8
$INGGA | 90204 | 5051.890218 | N | 440.1211742 | E | 4 | 15 | 0.8
$INGNS | 90204 | 5051.890218 | N | 440.1211742 | E | RRRN | 15 | 0.8
$INGGA | 90204.5 | 5051.890218 | N | 440.1211734 | E | 4 | 15 | 0.8
$INGNS | 90204.5 | 5051.890218 | N | 440.1211734 | E | RRRN | 15 | 0.8
$INGGA | 90205 | 5051.890218 | N | 440.1211725 | E | 4 | 15 | 0.8
$INGNS | 90205 | 5051.890218 | N | 440.1211725 | E | RRRN | 15 | 0.8
$INGGA | 90205.5 | 5051.890218 | N | 440.1211722 | E | 4 | 15 | 0.8
$INGNS | 90205.5 | 5051.890218 | N | 440.1211722 | E | RRRN | 15 | 0.8
$INGGA | 90206 | 5051.890218 | N | 440.1211727 | E | 4 | 15 | 0.8
$INGNS | 90206 | 5051.890218 | N | 440.1211727 | E | RRRN | 15 | 0.8
$INGGA | 90206.5 | 5051.890217 | N | 440.1211729 | E | 4 | 15 | 0.8
$INGNS | 90206.5 | 5051.890217 | N | 440.1211729 | E | RRRN | 15 | 0.8
$INGGA | 90207 | 5051.890217 | N | 440.1211733 | E | 4 | 15 | 0.8
$INGNS | 90207 | 5051.890217 | N | 440.1211733 | E | RRRN | 15 | 0.8
$INGGA | 90207.5 | 5051.890217 | N | 440.1211732 | E | 4 | 15 | 0.8
$INGNS | 90207.5 | 5051.890217 | N | 440.1211732 | E | RRRN | 15 | 0.8
$INGGA | 90208 | 5051.890217 | N | 440.1211726 | E | 4 | 15 | 0.8
$INGNS | 90208 | 5051.890217 | N | 440.1211726 | E | RRRN | 15 | 0.8
$INGGA | 90208.5 | 5051.890217 | N | 440.1211724 | E | 4 | 15 | 0.8
$INGNS | 90208.5 | 5051.890217 | N | 440.1211724 | E | RRRN | 15 | 0.8
$INGGA | 90209 | 5051.890216 | N | 440.1211721 | E | 4 | 15 | 0.8
$INGNS | 90209 | 5051.890216 | N | 440.1211721 | E | RRRN | 15 | 0.8
$INGGA | 90213.5 | 5051.890218 | N | 440.1211728 | E | 4 | 15 | 0.8
$INGNS | 90213.5 | 5051.890218 | N | 440.1211728 | E | RRRN | 15 | 0.8
$INGGA | 90214 | 5051.890218 | N | 440.1211725 | E | 4 | 15 | 0.8
$INGNS | 90214 | 5051.890218 | N | 440.1211725 | E | RRRN | 15 | 0.8
$INGGA | 90214.5 | 5051.890217 | N | 440.1211722 | E | 4 | 15 | 0.8
$INGNS | 90214.5 | 5051.890217 | N | 440.1211722 | E | RRRN | 15 | 0.8
$INGGA | 90215 | 5051.890218 | N | 440.1211725 | E | 4 | 15 | 0.8
$INGNS | 90215 | 5051.890218 | N | 440.1211725 | E | RRRN | 15 | 0.8
$INGGA | 90215.5 | 5051.890218 | N | 440.1211719 | E | 4 | 15 | 0.8
$INGNS | 90215.5 | 5051.890218 | N | 440.1211719 | E | RRRN | 15 | 0.8
$INGGA | 90216 | 5051.890218 | N | 440.1211711 | E | 4 | 13 | 0.8
$INGNS | 90216 | 5051.890218 | N | 440.1211711 | E | RRRN | 13 | 0.8
$INGGA | 90216.5 | 5051.890218 | N | 440.1211716 | E | 4 | 15 | 0.8
$INGNS | 90216.5 | 5051.890218 | N | 440.1211716 | E | RRRN | 15 | 0.8
$INGGA | 90217 | 5051.890218 | N | 440.121173 | E | 4 | 15 | 0.8
$INGNS | 90217 | 5051.890218 | N | 440.121173 | E | RRRN | 15 | 0.8
$INGGA | 90217.5 | 5051.890218 | N | 440.1211718 | E | 4 | 14 | 0.8
$INGNS | 90217.5 | 5051.890218 | N | 440.1211718 | E | RRRN | 14 | 0.8
$INGGA | 90218 | 5051.89022 | N | 440.1211741 | E | 4 | 15 | 0.8
$INGNS | 90218 | 5051.89022 | N | 440.1211741 | E | RRRN | 15 | 0.8
$INGGA | 90218.5 | 5051.890219 | N | 440.1211735 | E | 4 | 15 | 0.8
$INGNS | 90218.5 | 5051.890219 | N | 440.1211735 | E | RRRN | 15 | 0.8
$INGGA | 90219 | 5051.890219 | N | 440.1211766 | E | 4 | 15 | 0.8
$INGNS | 90219 | 5051.890219 | N | 440.1211766 | E | RRRN | 15 | 0.8
$INGGA | 90219.5 | 5051.890218 | N | 440.121179 | E | 4 | 15 | 0.8
$INGNS | 90219.5 | 5051.890218 | N | 440.121179 | E | RRRN | 15 | 0.8
$INGGA | 90220 | 5051.890216 | N | 440.1211844 | E | 4 | 15 | 0.8
$INGNS | 90220 | 5051.890216 | N | 440.1211844 | E | RRRN | 15 | 0.8
$INGGA | 90220.5 | 5051.890215 | N | 440.1211839 | E | 4 | 15 | 0.8
$INGNS | 90220.5 | 5051.890215 | N | 440.1211839 | E | RRRN | 15 | 0.8
$INGGA | 90221 | 5051.890215 | N | 440.121183 | E | 4 | 15 | 0.8
$INGNS | 90221 | 5051.890215 | N | 440.121183 | E | RRRN | 15 | 0.8
$INGGA | 90221.5 | 5051.890215 | N | 440.1211825 | E | 4 | 15 | 0.8
$INGNS | 90221.5 | 5051.890215 | N | 440.1211825 | E | RRRN | 15 | 0.8
$INGGA | 90222 | 5051.890214 | N | 440.1211828 | E | 4 | 15 | 0.8
$INGNS | 90222 | 5051.890214 | N | 440.1211828 | E | RRRN | 15 | 0.8
$INGGA | 90222.5 | 5051.890216 | N | 440.1211797 | E | 4 | 14 | 0.8
$INGNS | 90222.5 | 5051.890216 | N | 440.1211797 | E | RRRN | 14 | 0.8
$INGGA | 90223 | 5051.890214 | N | 440.1211814 | E | 4 | 8 | 1.4
$INGNS | 90223 | 5051.890214 | N | 440.1211814 | E | RRNN | 8 | 1.4
$INGGA | 90223.5 | 5051.890217 | N | 440.1211799 | E | 4 | 14 | 0.8
$INGNS | 90223.5 | 5051.890217 | N | 440.1211799 | E | RRRN | 14 | 0.8
$INGGA | 90224 | 5051.890218 | N | 440.1211797 | E | 4 | 15 | 0.8
$INGNS | 90224 | 5051.890218 | N | 440.1211797 | E | RRRN | 15 | 0.8
$INGGA | 90224.5 | 5051.890218 | N | 440.1211804 | E | 4 | 15 | 0.8
$INGNS | 90224.5 | 5051.890218 | N | 440.1211804 | E | RRRN | 15 | 0.8
$INGGA | 90225 | 5051.890219 | N | 440.1211801 | E | 4 | 15 | 0.8
$INGNS | 90225 | 5051.890219 | N | 440.1211801 | E | RRRN | 15 | 0.8
$INGGA | 90225.5 | 5051.890219 | N | 440.12118 | E | 4 | 14 | 0.8
$INGNS | 90225.5 | 5051.890219 | N | 440.12118 | E | RRRN | 14 | 0.8
$INGGA | 90226 | 5051.890218 | N | 440.1211788 | E | 4 | 15 | 0.8
$INGNS | 90226 | 5051.890218 | N | 440.1211788 | E | RRRN | 15 | 0.8
$INGGA | 90226.5 | 5051.890217 | N | 440.1211771 | E | 4 | 15 | 0.8
$INGNS | 90226.5 | 5051.890217 | N | 440.1211771 | E | RRRN | 15 | 0.8
$INGGA | 90227 | 5051.890216 | N | 440.1211757 | E | 4 | 15 | 0.8
$INGNS | 90227 | 5051.890216 | N | 440.1211757 | E | RRRN | 15 | 0.8
$INGGA | 90227.5 | 5051.890215 | N | 440.1211738 | E | 4 | 15 | 0.8
$INGNS | 90227.5 | 5051.890215 | N | 440.1211738 | E | RRRN | 15 | 0.8
$INGGA | 90228 | 5051.890218 | N | 440.1211727 | E | 4 | 15 | 0.8
$INGNS | 90228 | 5051.890218 | N | 440.1211727 | E | RRRN | 15 | 0.8
$INGGA | 90228.5 | 5051.890218 | N | 440.1211732 | E | 4 | 15 | 0.8
$INGNS | 90228.5 | 5051.890218 | N | 440.1211732 | E | RRRN | 15 | 0.8
$INGGA | 90229 | 5051.890219 | N | 440.121173 | E | 4 | 15 | 0.8
$INGNS | 90229 | 5051.890219 | N | 440.121173 | E | RRRN | 15 | 0.8
$INGGA | 90229.5 | 5051.890219 | N | 440.1211772 | E | 4 | 15 | 0.8
$INGNS | 90229.5 | 5051.890219 | N | 440.1211772 | E | RRRN | 15 | 0.8
$INGGA | 90230 | 5051.890218 | N | 440.1211756 | E | 4 | 12 | 1.2
$INGNS | 90230 | 5051.890218 | N | 440.1211756 | E | RRRN | 12 | 1.2
$INGGA | 90230.5 | 5051.890218 | N | 440.1211756 | E | 4 | 15 | 0.8
$INGNS | 90230.5 | 5051.890218 | N | 440.1211756 | E | RRRN | 15 | 0.8
$INGGA | 90231 | 5051.890219 | N | 440.1211788 | E | 4 | 15 | 0.8
$INGNS | 90231 | 5051.890219 | N | 440.1211788 | E | RRRN | 15 | 0.8
$INGGA | 90231.5 | 5051.890216 | N | 440.1211822 | E | 4 | 15 | 0.8
$INGNS | 90231.5 | 5051.890216 | N | 440.1211822 | E | RRRN | 15 | 0.8
$INGGA | 90232 | 5051.890216 | N | 440.1211846 | E | 4 | 15 | 0.8
$INGNS | 90232 | 5051.890216 | N | 440.1211846 | E | RRRN | 15 | 0.8
$INGGA | 90232.5 | 5051.890214 | N | 440.1211822 | E | 4 | 16 | 0.7
$INGNS | 90232.5 | 5051.890214 | N | 440.1211822 | E | RRRN | 16 | 0.7
$INGGA | 90233 | 5051.890217 | N | 440.1211788 | E | 4 | 15 | 0.8
$INGNS | 90233 | 5051.890217 | N | 440.1211788 | E | RRRN | 15 | 0.8
$INGGA | 90233.5 | 5051.890216 | N | 440.1211775 | E | 4 | 16 | 0.7
$INGNS | 90233.5 | 5051.890216 | N | 440.1211775 | E | RRRN | 16 | 0.7
$INGGA | 90234 | 5051.890214 | N | 440.1211795 | E | 4 | 16 | 0.7
$INGNS | 90234 | 5051.890214 | N | 440.1211795 | E | RRRN | 16 | 0.7
$INGGA | 90234.5 | 5051.890217 | N | 440.1211786 | E | 4 | 16 | 0.7
$INGNS | 90234.5 | 5051.890217 | N | 440.1211786 | E | RRRN | 16 | 0.7
$INGGA | 90235 | 5051.890216 | N | 440.1211739 | E | 4 | 16 | 0.7
$INGNS | 90235 | 5051.890216 | N | 440.1211739 | E | RRRN | 16 | 0.7
$INGGA | 90235.5 | 5051.890214 | N | 440.1211735 | E | 4 | 16 | 0.7
$INGNS | 90235.5 | 5051.890214 | N | 440.1211735 | E | RRRN | 16 | 0.7
$INGGA | 90236 | 5051.890215 | N | 440.1211722 | E | 4 | 16 | 0.7
$INGNS | 90236 | 5051.890215 | N | 440.1211722 | E | RRRN | 16 | 0.7
$INGGA | 90236.5 | 5051.890216 | N | 440.1211732 | E | 4 | 16 | 0.7
$INGNS | 90236.5 | 5051.890216 | N | 440.1211732 | E | RRRN | 16 | 0.7
$INGGA | 90237 | 5051.890215 | N | 440.1211735 | E | 4 | 9 | 1.3
$INGNS | 90237 | 5051.890215 | N | 440.1211735 | E | RRNN | 9 | 1.3
$INGGA | 90237.5 | 5051.890213 | N | 440.1211757 | E | 4 | 14 | 0.8
$INGNS | 90237.5 | 5051.890213 | N | 440.1211757 | E | RRRN | 14 | 0.8
$INGGA | 90238 | 5051.890202 | N | 440.1211796 | E | 4 | 14 | 0.8
$INGNS | 90238 | 5051.890202 | N | 440.1211796 | E | RRRN | 14 | 0.8
$INGGA | 90238.5 | 5051.890164 | N | 440.1211934 | E | 4 | 14 | 0.8
$INGNS | 90238.5 | 5051.890164 | N | 440.1211934 | E | RRRN | 14 | 0.8
$INGGA | 90239 | 5051.890106 | N | 440.1212414 | E | 4 | 14 | 0.8
$INGNS | 90239 | 5051.890106 | N | 440.1212414 | E | RRRN | 14 | 0.8
$INGGA | 90239.5 | 5051.890023 | N | 440.1212915 | E | 4 | 13 | 0.9
$INGNS | 90239.5 | 5051.890023 | N | 440.1212915 | E | RRRN | 13 | 0.9
$INGGA | 90240 | 5051.889932 | N | 440.1213363 | E | 4 | 14 | 0.8
$INGNS | 90240 | 5051.889932 | N | 440.1213363 | E | RRRN | 14 | 0.8
$INGGA | 90240.5 | 5051.889838 | N | 440.1213982 | E | 4 | 14 | 0.8
$INGNS | 90240.5 | 5051.889838 | N | 440.1213982 | E | RRRN | 14 | 0.8
$INGGA | 90241 | 5051.889738 | N | 440.1214666 | E | 4 | 14 | 0.8
$INGNS | 90241 | 5051.889738 | N | 440.1214666 | E | RRRN | 14 | 0.8
$INGGA | 90241.5 | 5051.889626 | N | 440.1215295 | E | 4 | 14 | 0.8
$INGNS | 90241.5 | 5051.889626 | N | 440.1215295 | E | RRRN | 14 | 0.8
$INGGA | 90242 | 5051.889502 | N | 440.1215845 | E | 4 | 14 | 0.8
$INGNS | 90242 | 5051.889502 | N | 440.1215845 | E | RRRN | 14 | 0.8
$INGGA | 90242.5 | 5051.889382 | N | 440.121677 | E | 4 | 14 | 0.8
$INGNS | 90242.5 | 5051.889382 | N | 440.121677 | E | RRRN | 14 | 0.8
$INGGA | 90243 | 5051.889261 | N | 440.1217537 | E | 4 | 13 | 0.9
$INGNS | 90243 | 5051.889261 | N | 440.1217537 | E | RRRN | 13 | 0.9
$INGGA | 90243.5 | 5051.88915 | N | 440.1217964 | E | 4 | 14 | 0.8
$INGNS | 90243.5 | 5051.88915 | N | 440.1217964 | E | RRRN | 14 | 0.8
$INGGA | 90244 | 5051.889041 | N | 440.121846 | E | 4 | 13 | 0.9
$INGNS | 90244 | 5051.889041 | N | 440.121846 | E | RRRN | 13 | 0.9
$INGGA | 90244.5 | 5051.888933 | N | 440.1218869 | E | 4 | 15 | 0.8
$INGNS | 90244.5 | 5051.888933 | N | 440.1218869 | E | RRRN | 15 | 0.8
$INGGA | 90245 | 5051.888815 | N | 440.1219342 | E | 4 | 15 | 0.8
$INGNS | 90245 | 5051.888815 | N | 440.1219342 | E | RRRN | 15 | 0.8
$INGGA | 90245.5 | 5051.888701 | N | 440.1220068 | E | 4 | 15 | 0.8
$INGNS | 90245.5 | 5051.888701 | N | 440.1220068 | E | RRRN | 15 | 0.8
$INGGA | 90246 | 5051.888582 | N | 440.1220597 | E | 4 | 15 | 0.8
$INGNS | 90246 | 5051.888582 | N | 440.1220597 | E | RRRN | 15 | 0.8
$INGGA | 90246.5 | 5051.88847 | N | 440.1221329 | E | 4 | 15 | 0.8
$INGNS | 90246.5 | 5051.88847 | N | 440.1221329 | E | RRRN | 15 | 0.8
$INGGA | 90247 | 5051.88835 | N | 440.1221936 | E | 4 | 15 | 0.8
$INGNS | 90247 | 5051.88835 | N | 440.1221936 | E | RRRN | 15 | 0.8
$INGGA | 90247.5 | 5051.888231 | N | 440.1222446 | E | 4 | 14 | 0.9
$INGNS | 90247.5 | 5051.888231 | N | 440.1222446 | E | RRRN | 14 | 0.9
$INGGA | 90248 | 5051.888118 | N | 440.1223207 | E | 4 | 14 | 0.9
$INGNS | 90248 | 5051.888118 | N | 440.1223207 | E | RRRN | 14 | 0.9
$INGGA | 90248.5 | 5051.887989 | N | 440.12238 | E | 4 | 14 | 0.9
$INGNS | 90248.5 | 5051.887989 | N | 440.12238 | E | RRRN | 14 | 0.9
$INGGA | 90249 | 5051.887858 | N | 440.122443 | E | 4 | 14 | 0.9
$INGNS | 90249 | 5051.887858 | N | 440.122443 | E | RRRN | 14 | 0.9
$INGGA | 90249.5 | 5051.887732 | N | 440.1225145 | E | 4 | 14 | 0.9
$INGNS | 90249.5 | 5051.887732 | N | 440.1225145 | E | RRRN | 14 | 0.9
$INGGA | 90250 | 5051.887602 | N | 440.1225785 | E | 4 | 14 | 0.9
$INGNS | 90250 | 5051.887602 | N | 440.1225785 | E | RRRN | 14 | 0.9
$INGGA | 90250.5 | 5051.887474 | N | 440.1226541 | E | 4 | 14 | 0.9
$INGNS | 90250.5 | 5051.887474 | N | 440.1226541 | E | RRRN | 14 | 0.9
$INGGA | 90251 | 5051.887353 | N | 440.1227167 | E | 4 | 14 | 0.9
$INGNS | 90251 | 5051.887353 | N | 440.1227167 | E | RRRN | 14 | 0.9
$INGGA | 90251.5 | 5051.887221 | N | 440.1227736 | E | 4 | 14 | 0.9
$INGNS | 90251.5 | 5051.887221 | N | 440.1227736 | E | RRRN | 14 | 0.9
$INGGA | 90252 | 5051.887095 | N | 440.1228544 | E | 4 | 13 | 0.9
$INGNS | 90252 | 5051.887095 | N | 440.1228544 | E | RRRN | 13 | 0.9
$INGGA | 90252.5 | 5051.886964 | N | 440.1229222 | E | 4 | 14 | 0.9
$INGNS | 90252.5 | 5051.886964 | N | 440.1229222 | E | RRRN | 14 | 0.9
$INGGA | 90253 | 5051.886847 | N | 440.1229803 | E | 4 | 14 | 0.9
$INGNS | 90253 | 5051.886847 | N | 440.1229803 | E | RRRN | 14 | 0.9
$INGGA | 90253.5 | 5051.886728 | N | 440.1230611 | E | 4 | 14 | 0.9
$INGNS | 90253.5 | 5051.886728 | N | 440.1230611 | E | RRRN | 14 | 0.9
$INGGA | 90254 | 5051.88661 | N | 440.123115 | E | 4 | 14 | 0.9
$INGNS | 90254 | 5051.88661 | N | 440.123115 | E | RRRN | 14 | 0.9
$INGGA | 90254.5 | 5051.886503 | N | 440.1231603 | E | 4 | 14 | 0.9
$INGNS | 90254.5 | 5051.886503 | N | 440.1231603 | E | RRRN | 14 | 0.9
$INGGA | 90255 | 5051.886398 | N | 440.1232161 | E | 4 | 14 | 0.9
$INGNS | 90255 | 5051.886398 | N | 440.1232161 | E | RRRN | 14 | 0.9
$INGGA | 90255.5 | 5051.886279 | N | 440.1232847 | E | 4 | 14 | 0.9
$INGNS | 90255.5 | 5051.886279 | N | 440.1232847 | E | RRRN | 14 | 0.9
$INGGA | 90256 | 5051.886166 | N | 440.1233499 | E | 4 | 14 | 0.9
$INGNS | 90256 | 5051.886166 | N | 440.1233499 | E | RRRN | 14 | 0.9
$INGGA | 90256.5 | 5051.886053 | N | 440.1234002 | E | 4 | 14 | 0.9
$INGNS | 90256.5 | 5051.886053 | N | 440.1234002 | E | RRRN | 14 | 0.9
$INGGA | 90257 | 5051.885955 | N | 440.1234582 | E | 4 | 13 | 1
$INGNS | 90257 | 5051.885955 | N | 440.1234582 | E | RRRN | 13 | 1
$INGGA | 90257.5 | 5051.885933 | N | 440.1234716 | E | 4 | 13 | 1
$INGNS | 90257.5 | 5051.885933 | N | 440.1234716 | E | RRRN | 13 | 1
$INGGA | 90258 | 5051.886011 | N | 440.1234337 | E | 4 | 13 | 1
$INGNS | 90258 | 5051.886011 | N | 440.1234337 | E | RRRN | 13 | 1
$INGGA | 90258.5 | 5051.886075 | N | 440.1233718 | E | 4 | 13 | 1
$INGNS | 90258.5 | 5051.886075 | N | 440.1233718 | E | RRRN | 13 | 1
$INGGA | 90259 | 5051.886112 | N | 440.1233372 | E | 4 | 11 | 1.3
$INGNS | 90259 | 5051.886112 | N | 440.1233372 | E | RRRN | 11 | 1.3
$INGGA | 90259.5 | 5051.886124 | N | 440.1233351 | E | 4 | 13 | 1
$INGNS | 90259.5 | 5051.886124 | N | 440.1233351 | E | RRRN | 13 | 1
$INGGA | 90300 | 5051.886134 | N | 440.123342 | E | 4 | 13 | 1
$INGNS | 90300 | 5051.886134 | N | 440.123342 | E | RRRN | 13 | 1
$INGGA | 90300.5 | 5051.886132 | N | 440.1233377 | E | 4 | 12 | 1
$INGNS | 90300.5 | 5051.886132 | N | 440.1233377 | E | RRRN | 12 | 1
$INGGA | 90301 | 5051.88613 | N | 440.123335 | E | 4 | 13 | 1
$INGNS | 90301 | 5051.88613 | N | 440.123335 | E | RRRN | 13 | 1
$INGGA | 90301.5 | 5051.886131 | N | 440.1233357 | E | 4 | 13 | 1
$INGNS | 90301.5 | 5051.886131 | N | 440.1233357 | E | RRRN | 13 | 1
$INGGA | 90302 | 5051.886129 | N | 440.1233375 | E | 4 | 13 | 1
$INGNS | 90302 | 5051.886129 | N | 440.1233375 | E | RRRN | 13 | 1
$INGGA | 90302.5 | 5051.886123 | N | 440.1233398 | E | 4 | 13 | 1
$INGNS | 90302.5 | 5051.886123 | N | 440.1233398 | E | RRRN | 13 | 1
$INGGA | 90303 | 5051.886122 | N | 440.1233132 | E | 4 | 13 | 1
$INGNS | 90303 | 5051.886122 | N | 440.1233132 | E | RRRN | 13 | 1
$INGGA | 90303.5 | 5051.886119 | N | 440.1232875 | E | 4 | 13 | 1
$INGNS | 90303.5 | 5051.886119 | N | 440.1232875 | E | RRRN | 13 | 1
$INGGA | 90304 | 5051.886122 | N | 440.1232573 | E | 4 | 14 | 0.9
$INGNS | 90304 | 5051.886122 | N | 440.1232573 | E | RRRN | 14 | 0.9
$INGGA | 90304.5 | 5051.886118 | N | 440.1232131 | E | 4 | 14 | 0.9
$INGNS | 90304.5 | 5051.886118 | N | 440.1232131 | E | RRRN | 14 | 0.9
$INGGA | 90305 | 5051.886121 | N | 440.1232448 | E | 4 | 13 | 1
$INGNS | 90305 | 5051.886121 | N | 440.1232448 | E | RRRN | 13 | 1
$INGGA | 90305.5 | 5051.886131 | N | 440.1232859 | E | 4 | 13 | 1
$INGNS | 90305.5 | 5051.886131 | N | 440.1232859 | E | RRRN | 13 | 1
$INGGA | 90306 | 5051.886118 | N | 440.1232314 | E | 4 | 14 | 0.9
$INGNS | 90306 | 5051.886118 | N | 440.1232314 | E | RRRN | 14 | 0.9
$INGGA | 90306.5 | 5051.886092 | N | 440.1231546 | E | 4 | 14 | 0.9
$INGNS | 90306.5 | 5051.886092 | N | 440.1231546 | E | RRRN | 14 | 0.9
$INGGA | 90307 | 5051.886037 | N | 440.1230673 | E | 4 | 13 | 1
$INGNS | 90307 | 5051.886037 | N | 440.1230673 | E | RRRN | 13 | 1
$INGGA | 90307.5 | 5051.885975 | N | 440.1230052 | E | 4 | 13 | 0.9
$INGNS | 90307.5 | 5051.885975 | N | 440.1230052 | E | RRRN | 13 | 0.9
$INGGA | 90308 | 5051.885918 | N | 440.1229774 | E | 4 | 12 | 1
$INGNS | 90308 | 5051.885918 | N | 440.1229774 | E | RRRN | 12 | 1
$INGGA | 90308.5 | 5051.885875 | N | 440.1229424 | E | 4 | 11 | 1.3
$INGNS | 90308.5 | 5051.885875 | N | 440.1229424 | E | RRRN | 11 | 1.3
$INGGA | 90309 | 5051.885855 | N | 440.1229571 | E | 4 | 12 | 1.2
$INGNS | 90309 | 5051.885855 | N | 440.1229571 | E | RRRN | 12 | 1.2
$INGGA | 90309.5 | 5051.885858 | N | 440.1229703 | E | 4 | 11 | 1.3
$INGNS | 90309.5 | 5051.885858 | N | 440.1229703 | E | RRRN | 11 | 1.3
$INGGA | 90310 | 5051.88589 | N | 440.1229732 | E | 4 | 12 | 0.9
$INGNS | 90310 | 5051.88589 | N | 440.1229732 | E | RRRN | 12 | 0.9
$INGGA | 90310.5 | 5051.885941 | N | 440.1229688 | E | 4 | 13 | 0.8
$INGNS | 90310.5 | 5051.885941 | N | 440.1229688 | E | RRRN | 13 | 0.8
$INGGA | 90311 | 5051.885957 | N | 440.123002 | E | 4 | 14 | 0.8
$INGNS | 90311 | 5051.885957 | N | 440.123002 | E | RRRN | 14 | 0.8
$INGGA | 90311.5 | 5051.885973 | N | 440.1230645 | E | 4 | 13 | 0.9
$INGNS | 90311.5 | 5051.885973 | N | 440.1230645 | E | RRRN | 13 | 0.9
$INGGA | 90312 | 5051.885949 | N | 440.1230796 | E | 4 | 13 | 0.9
$INGNS | 90312 | 5051.885949 | N | 440.1230796 | E | RRRN | 13 | 0.9
$INGGA | 90312.5 | 5051.885916 | N | 440.1231382 | E | 4 | 12 | 0.9
$INGNS | 90312.5 | 5051.885916 | N | 440.1231382 | E | RRRN | 12 | 0.9
$INGGA | 90313 | 5051.885925 | N | 440.1232371 | E | 4 | 11 | 1.3
$INGNS | 90313 | 5051.885925 | N | 440.1232371 | E | RRRN | 11 | 1.3
$INGGA | 90313.5 | 5051.885968 | N | 440.1233678 | E | 4 | 13 | 1
$INGNS | 90313.5 | 5051.885968 | N | 440.1233678 | E | RRRN | 13 | 1
$INGGA | 90314 | 5051.886013 | N | 440.1235141 | E | 4 | 13 | 0.9
I gave a quick look at how the messages are generated on the rosdriver and noticed for GNSS
receiver the status bit is masked while this is not applied for INS
receivers.
How should I interpret the data on the nav rostopics?
I can't find the published topic used to output the absolute heading when using AsteRx-i3 D Pro+ with dual antenna configuration.
Hello,
We are using AsteRx SBi3 Pro+ for a self-driving project. We are using ROS Noetic (ROS 1) on Ubuntu 20.04. We connected the AsteRx SBi3 Pro+ through the USB cable and the computer had Internet access. We have the RTK service from SmartNet.
However, when we did the settings as below, the RTK did not work.
rtk_settings:
keep_open: true
ntrip_1:
id: ""
caster: "98.159.149.72"
caster_port: 9301
username: "uni01317601"
password: "xxxx"
mountpoint: "MSM_iMAX"
version: "v2"
tls: false
fingerprint: ""
rtk_standard: "auto"
send_gga: "auto"
We understand that on Windows we have to share the Internet over USB. However, we are using the Ubuntu linux. We are not sure whether the AsteRx SBi3 Pro+ has Internet access or not when it is connected to the computer through the USB cable.
We want to make the RTK work together with ROS. Could let us know how to configure the AsteRx SBi3 Pro+ device?
Thanks!
Best,
Hang
I'm trying to integrate a mosaic-H GNSS board into ROS.
I'm currently connected to the Micro-USB port on the board and can ping the board via 192.168.3.1.
I therefore tried setting an IP server with TCP to this adress but the only mode working is UDP.
I set the NMEA Output accordingly to UDP server on port 1.
This is my rover.yaml:
device: tcp://192.168.3.1:1
serial:
baudrate: 921600
rx_serial_port: /dev/ttyAMC0
hw_flow_control: off
login:
user: ""
password: ""
frame_id: gnss
imu_frame_id: imu
poi_frame_id: base_link
vsm_frame_id: vsm
aux1_frame_id: aux1
vehicle_frame_id: base_link
local_frame_id: odom
insert_local_frame: false
get_spatial_config_from_tf: false
lock_utm_zone: true
use_ros_axis_orientation: true
receiver_type: gnss
multi_antenna: true
datum: Default
poi_to_arp:
delta_e: 0.0
delta_n: 0.0
delta_u: 0.0
att_offset:
heading: 0.0
pitch: 0.0
ant_type: "Unknown"
ant_serial_nr: "Unknown"
ant_aux1_type: "Unknown"
ant_aux1_serial_nr: "Unknown"
leap_seconds: 18
polling_period:
pvt: 500
rest: 500
use_gnss_time: true
publish:
navsatfix: true
gpsfix: true
gpgga: true
gprmc: true
gpst: true
measepoch: true
pvtcartesian: true
pvtgeodetic: true
basevectorcart: true
basevectorgeod: true
poscovcartesian: true
poscovgeodetic: true
velcovgeodetic: true
atteuler: true
attcoveuler: true
pose: true
twist: true
diagnostics: true
gpgsa: true
gpgsv: true
insnavcart: false
insnavgeod: false
extsensormeas: false
imusetup: false
velsensorsetup: false
exteventinsnavcart: false
exteventinsnavgeod: false
imu: false
localization: false
tf: false
activate_debug_log: false
These are my last lines when is launch the driver:
setting /run_id to 1d03b03a-9b6a-11ed-a616-1d15bd112421
process[rosout-1]: started with pid [25574]
started core service [/rosout]
process[tf_imu-2]: started with pid [25582]
process[tf_gnss-3]: started with pid [25583]
process[tf_vsm-4]: started with pid [25584]
process[tf_aux1-5]: started with pid [25585]
process[septentrio_gnss-6]: started with pid [25587]
[ INFO] [1674511557.834914788]: /septentrio_gnss: Connecting to tcp://192.168.3.1:1...
[ INFO] [1674511557.836492184]: /septentrio_gnss: Connected to 192.168.3.1:1.
[ INFO] [1674511557.911378294]: /septentrio_gnss: The connection descriptor for the TCP connection is IPS5
Then nothing happens and rostopic list just gives me a published /tf and /tf_static topic. What did I do wrong?
Thank you for the help
I am currently trying to setup RTK with the rover_node.launch.py file. I have changed the rover_node.yaml to look like this:
rtk_settings:
ntrip_1:
id: "NTR1"
caster: "eu.skylark.swiftnav.com"
caster_port: 2101
username: "SECRET_USERNAME"
password: "SECRET_PASSWORD"
mountpoint: "CRS"
version: "v2"
tls: false
fingerprint: ""
rtk_standard: "auto"
send_gga: "auto"
keep_open: true
I saw in this thread: #113, that i can check the mode in /pvtgeodetic, which gives me a 6. I am unsure if this means the RTK is correctly enabled.
When i take it outside i am getting a fix that is at my location, but it is quite jumpy leading me to believe that the RTK isn't being used correctly. Also i get no difference in either logs or the /pvtgeodetic mode when i purposely put my username or password wrong.
These are the logs i get when i run the node:
septentrio-driver | [INFO] [launch]: All log files can be found below /root/.ros/log/2024-08-08-13-21-08-329850-rock-4c-plus-27348
septentrio-driver | [INFO] [launch]: Default logging verbosity is set to INFO
septentrio-driver | [INFO] [septentrio_gnss_driver_node-1]: process started with pid [27392]
septentrio-driver | [INFO] [static_transform_publisher-2]: process started with pid [27394]
septentrio-driver | [INFO] [static_transform_publisher-3]: process started with pid [27396]
septentrio-driver | [INFO] [static_transform_publisher-4]: process started with pid [27398]
septentrio-driver | [INFO] [static_transform_publisher-5]: process started with pid [27401]
septentrio-driver | [static_transform_publisher-2] 1723123268.903047134: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments
septentrio-driver | [static_transform_publisher-5] 1723123268.999132348: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments
septentrio-driver | [static_transform_publisher-2] 1723123269.074845289: [static_transform_publisher_tkHrwZdWzvDWTVYx] [INFO] Spinning until stopped - publishing transform
septentrio-driver | [static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
septentrio-driver | [static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
septentrio-driver | [static_transform_publisher-2] from 'base_link' to 'imu'
septentrio-driver | [static_transform_publisher-3] 1723123269.086907128: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments
septentrio-driver | [static_transform_publisher-5] 1723123269.125299388: [static_transform_publisher_MqCNmNusSl3WFeY9] [INFO] Spinning until stopped - publishing transform
septentrio-driver | [static_transform_publisher-5] translation: ('0.000000', '0.000000', '0.000000')
septentrio-driver | [static_transform_publisher-5] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
septentrio-driver | [static_transform_publisher-5] from 'imu' to 'aux1'
septentrio-driver | [static_transform_publisher-4] 1723123269.128599337: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments
septentrio-driver | [static_transform_publisher-3] 1723123269.164739896: [static_transform_publisher_4YlDNmmHIB7F3qaw] [INFO] Spinning until stopped - publishing transform
septentrio-driver | [static_transform_publisher-3] translation: ('0.000000', '0.000000', '0.000000')
septentrio-driver | [static_transform_publisher-3] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
septentrio-driver | [static_transform_publisher-3] from 'imu' to 'gnss'
septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.200005791: [septentrio_gnss_driver] [INFO] Connecting to tcp://192.168.3.1:28784...
septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.202121285: [septentrio_gnss_driver] [INFO] Connected to 192.168.3.1:28784.
septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.221647101: [septentrio_gnss_driver] [INFO] The connection descriptor is IP10
septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.221851559: [septentrio_gnss_driver] [INFO] Setting up Rx.
septentrio-driver | [static_transform_publisher-4] 1723123269.245323948: [static_transform_publisher_kRdgEX7ZXWaM8xZQ] [INFO] Spinning until stopped - publishing transform
septentrio-driver | [static_transform_publisher-4] translation: ('0.000000', '0.000000', '0.000000')
septentrio-driver | [static_transform_publisher-4] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
septentrio-driver | [static_transform_publisher-4] from 'imu' to 'vsm'
septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.550120539: [septentrio_gnss_driver] [ERROR] Invalid command just sent to the Rx! The Rx's response contains 62 bytes and reads:
septentrio-driver | [septentrio_gnss_driver_node-1] $R? setAntennaOffset: Tabular argument 'Antenna' is invalid!
septentrio-driver | [septentrio_gnss_driver_node-1]
septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.739602975: [septentrio_gnss_driver] [WARN] Multi antenna requested but Rx does not support it.
septentrio-driver | [septentrio_gnss_driver_node-1] 1723123270.686877777: [septentrio_gnss_driver] [INFO] Setup complete.
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