GPS devices detect problems in Apollo, what needs to be done?

[silverland79]

GPS devices detect in linux no problem, it can receive satellite data and RTK-GPS data. However, the Apollo HMI GPS detection error, the following is the configuration information and error log. I want to know what else needs to be done to make GPS device pass the “Setup”. 1.localization.INFO: Log file created at: 2017/12/19 15:47:45 Running on machine: in_dev_docker Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg E1219 15:47:45.412098 5828 rtk_localization.cc:79] GPS message buffer is empty. E1219 15:47:45.421730 5828 rtk_localization.cc:79] GPS message buffer is empty. E1219 15:47:45.449895 5828 rtk_localization.cc:79] GPS message buffer is empty. E1219 15:47:45.449975 5828 rtk_localization.cc:79] GPS message buffer is empty. E1219 15:47:45.464756 5828 rtk_localization.cc:79] GPS message buffer is empty.

2.gnss_driver.launch:

3.gnss_conf_mkz.txt: data { format: NOVATEL_BINARY serial { device: "/dev/ttyUSB0" baud_rate: 115200 } }

rtk_from { format: RTCM_V3 ntrip { address:rtk.ntrip.qxwz.com port:8002 mount_point:RTCM30_GG user:qxmfj002 password:cb55ed2 timeout_s: 5 } }

rtk_to { format: NOVATEL_BINARY serial { device: "/dev/ttyUSB1" baud_rate: 115200 } }

rtk_solution_type: RTK_RECEIVER_SOLUTION

login_commands: "UNLOGALL THISPORT\r\n" login_commands: "LOG COM2 GPRMC ONTIME 1.0 0.25\r\n" login_commands: "EVENTOUTCONTROL MARK2 ENABLE POSITIVE 999999990 10\r\n" login_commands: "EVENTOUTCONTROL MARK1 ENABLE POSITIVE 500000000 500000000\r\n" login_commands: "LOG NCOM1 GPGGA ONTIME 1.0\r\n"

login_commands: "log bestgnssposb ontime 0.5\r\n" login_commands: "log bestgnssvelb ontime 0.5\r\n" login_commands: "log bestposb ontime 0.5\r\n" login_commands: "log INSPVASB ontime 0.01\r\n" login_commands: "log CORRIMUDATASB ontime 0.01\r\n" login_commands: "log INSCOVSB ontime 1\r\n" login_commands: "log mark1pvab onnew\r\n"

login_commands: "log imutoantoffsetsb once\r\n" login_commands: "log vehiclebodyrotationb onchanged\r\n"

logout_commands: "EVENTOUTCONTROL MARK2 DISABLE\r\n" logout_commands: "EVENTOUTCONTROL MARK1 DISABLE\r\n"

[silverland79]

I grab some serial data，for example: /dev/ttyUSB0: $GPFPD,0,5787.500,0.000,1.443,-0.805,0.0000000,0.0000000,0.00,0.000,0.000,0.000,0.000,0,0,005D $GPHPD,0,5785.000,0.000,0.000,0.000,0.0000000,0.0000000,0.00,0.000,0.000,0.000,0.000,0,0,0076

[silverland79]

My GPS device chip is OEM617D.Manufacturers can only change INSPVAS = 508, RAWIMUSX = 1462, GPGGA = 218, these three Message agreements,Please Help to see if it works?

[ghost]

Hey @silverland79, I'm sorry I cannot help you with your problem but I have noticed you set an url as the address, is that what's required ? I expected it would be an IP address. Thanks.