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HKUST-Aerial-Robotics / GVINS

Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.
GNU General Public License v3.0
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gnss_enable is enabled, can not get global path #26

Closed Abner0907 closed 2 years ago

Abner0907 commented 2 years ago

@shaozu Hello, disturb to again. I have a question about how to enable gnss_enable.

as you can see #25. If I set gnss_enable:0, it can get the nice local position. however, when I set gnss_enable:1, it can not get the gloabl position. So i start to debug and get some questions. hope your reply. question: 1: I found that I have no topic /external_trigger is published. how does it work? or is it must? 2: what 's the function of the parameter gnss_local_time_diff ? 3: Is there some reference for explanation gnss_iono_default_parameters. sorry, I have not found any reference. Can it be changed? what it depends on? 4: In GNSSVIAlign() function, I found it always return false as the reason of gnss_meas_buf[i].empty() -> false && gnss_meas_buf[i].size() = 0. https://github.com/HKUST-Aerial-Robotics/GVINS/blob/d2cf40b49c6eb0e6ad3caa4f613713983be3fd74/estimator/src/estimator.cpp#L566-L570 But I can confirm that it has push the data in the buffer here https://github.com/HKUST-Aerial-Robotics/GVINS/blob/d2cf40b49c6eb0e6ad3caa4f613713983be3fd74/estimator/src/estimator.cpp#L326-L327. Very confused me.

Thank you for sharing your great job.

Abner0907 commented 2 years ago

@shaozu This is my monitor topic bandwidth. Screenshot from 2021-12-18 18-02-24

Abner0907 commented 2 years ago

closed, As I have used an private f9p protocol, it parse the data not correct, which cause this issues.

maghauke commented 2 years ago

@Abner0907 I have a similar problem, could you specify what you mean about a “private f9p protocol”? Do you mean your setup of the ublox-system or do you mean the GVINS-ublox-driver?

Abner0907 commented 2 years ago

@maghauke I have ref the rtklib drivers and do some changes in the file of gnss_ubox_driver/src/ublox_message_processor.cpp, which now all work good for me. as the private f9p, I do not think so, it is my not correct words.

SSZ1 commented 1 year ago

Hi~Bro. So have you figured out the meaning of /external_trigger ? What's its function?? And how could we get it?