Apollo9.0使用华测GCI-430惯导为何使用驱动运行后只有原始数据的节点正常，其他输出节点的FrameRatio很低

Jacen0610 commented 1 month ago

OS Platform and Distribution (e.g., Linux Ubuntu 18.04):Linux Ubuntu18.04 LTS
Apollo installed from (source or binary):source
Apollo version (3.5, 5.0, 5.5, 6.0):9.0
Output of apollo.sh config if on master branch: [INFO] Apollo Environment Settings: [INFO] APOLLO_ROOT_DIR: /apollo [INFO] APOLLO_CACHE_DIR: /apollo/.cache [INFO] APOLLO_IN_DOCKER: true [INFO] APOLLO_VERSION: master-2024-04-25-6932e80ec1 [INFO] DOCKER_IMG: dev-x86_64-18.04-20240326_1453 [INFO] APOLLO_ENV: STAGE=dev USE_ESD_CAN=false [INFO] USE_GPU_HOST: 1 [INFO] USE_GPU_TARGET: 1 [INFO] GPU_PLATFORM: NVIDIA [INFO] Configure .apollo.bazelrc in non-interactive mode [INFO] You have bazel 5.2.0 installed. [INFO] Found possible Python library paths: /usr/lib/python3/dist-packages /usr/local/lib/python3.6/dist-packages [INFO] Found CUDA 11.1 in: /usr/local/cuda-11.1/targets/x86_64-linux/lib /usr/local/cuda-11.1/targets/x86_64-linux/include [INFO] Found cuDNN 8 in: /usr/lib/x86_64-linux-gnu /usr/include [INFO] Found TensorRT 7 in: /usr/lib/x86_64-linux-gnu /usr/include/x86_64-linux-gnu [ OK ] Successfully configured .apollo.bazelrc in non-interactive mode. [INFO] Usage: /apollo/scripts/apollo_config.sh [Options] [INFO] Options: [INFO] -i|--interactive Run in interactive mode [INFO] -n|--noninteractive Run in non-interactive mode [INFO] -h|--help Show this message and exit

运行module/gnss模块下的驱动后只有数据显示，但是只有rawdata的数据的FrameRatio为100左右，其他节点的数据FrameRatio在0~5之间跳动，导致无法定位。我使用的是华测GCI-430惯导，用RJ45网口与计算机进行数据交换，华测GPCHC数据协议的频率已经调至100HZ
After driving under the running module/gnss module, the data is displayed, but only the FrameRatio of the rawdata is around 100, and the data FrameRatio of other nodes jumps between 0~5, causing it to be unable to locate. I am using the Huace GCI-430. Use RJ45 network to exchange data with the computer with TCP protocol, the frequency of Huace GPCHC data protocol has been adjusted to 100HZ