Comments (9)
Hello Hang,
you observed correctly, that you need internet forwarding over USB. How to achieve this is explained here.
Best regards,
Thomas
from septentrio_gnss_driver.
Hi Thomas,
Thanks a lot. I have made it work. A quick question. Could you tell me know in which ROS topic I could verify that the RTK is working? For example, rtk: true, or GNSS mode: rtk, etc.
Thanks again.
Best,
Hang
from septentrio_gnss_driver.
Hi Hang,
great :-)
The mode
field of pvt_geodetic
or pvt_cartesian
shows the type of the PVT solution:
Cheers,
Thomas
from septentrio_gnss_driver.
Hi Thomas,
Thanks! I could tell the RTK mode from the ROS topic now.
Another question. Can I use the Ethernet interface instead of the USB interface for above settings? My device is AsteRx SBi3 Pro+. The reason is that I found the USB interface of my computer could not provide stable power to the device.
I want to power the AsteRx SBi3 Pro+ separately and use the Ethernet interface for ROS and RTK settings. Could let me how to configure it? Can I change the IP address of AsteRx SBi3 Pro+?
Thanks a lot!
Best,
Hang
from septentrio_gnss_driver.
Hi Hang,
you can use Ethernet for sure. I would recommend to connect it to a switch then, so you won't need internet sharing from your PC anymore.
The IP address can be changed via web interface Communication -> Ethernet. For ROSaic you just have to change the IP address.
Cheery,
Thomas
from septentrio_gnss_driver.
Hi Thomas,
Thanks a lot! I will try it.
I find the IMU outputs from ROS topic /septentrio_gnss/imu include the gravity compensation. Is there anyway to get the raw data of the IMU without gravity compensation?
Thanks again.
Best,
Hang
from septentrio_gnss_driver.
Hi Hang,
are you really sure about the gravity compensation? The raw data of the IMU shows the gravity:
Cheers,
Thomas
from septentrio_gnss_driver.
Hi Thomas,
Yes, in the linear_acceleration. In the Z direction, it added the gravity component, which is 9.8 g/m^s. Can we have the IMU raw data without the gravity components?
Thanks!
Best,
Hang
from septentrio_gnss_driver.
Hi Hang,
to be clear: the IMU measures gravity, so raw data includes gravity of course. Else, it would not be possible to determine the attitude ;-)
In order to get gravity compensated accelerations, gravity has to be subtracted. This is not straight forward, since it is dependent on various factors. Maybe we can add this as an option to a future version of the driver.
Cheers,
Thomas
from septentrio_gnss_driver.
Related Issues (20)
- How to connect to device via serial? HOT 4
- No messages received via usb HOT 7
- Some msgs are dropped HOT 14
- Angular velocity units in topic /imu HOT 3
- Angular velocities on topic `/twist_ins` all zero HOT 1
- Namespace handling HOT 2
- Install hyperlink to old ROS distribution on ros2 branch HOT 1
- Invalid or erroneous data like -20000000 in navsatfix messages HOT 3
- Mosaic X5: Ntrip of rtk_settings does not work for ROS 1 (ROS Noetic) driver on Ubuntu 20.04 HOT 3
- Mosaic X5: ECEF is not output on ROS 1 (ROS Noetic) driver on Ubuntu 20.04 HOT 1
- Septentrio AsteRx SBi3 Pro+ RTK status jumps and GNSS/INS data invalid with ROS driver HOT 3
- Change publish rate for GNSS measurements HOT 2
- Unable to enable NTRIP via ROS yaml HOT 3
- SNR Logging HOT 5
- integration of /localization odometry data to robot_localization node HOT 2
- /imu topic gives .nan in orientation HOT 3
- -20000000000 orientation values in dual-antenna setup HOT 2
- Serial ID of mosiac go heading not constant HOT 3
- Issue with Building septentrio_gnss_driver in ROS2: Missing Branch HOT 2
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