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SBG-Systems / sbg_ros_driver

ROS 1 driver for SBG Systems IMU/AHRS/INS units such as ELLIPSE or QUANTA.
https://www.sbg-systems.com
MIT License
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Connection delayed / not sent every second #83

Closed laxnpander closed 1 year ago

laxnpander commented 1 year ago

Hey,

I am observing a weird issue with data being delayed / not sent every second. See the bag I recorded below: image

My ellipse N is connected via RS232 -> UART to an onboard computer. Anyone having observed something similar?

Best regards,

Alex

rsiryani commented 1 year ago

Hi,

Thanks for reaching us. Please make sure the serial port is not overloaded first.

Le 28 févr. 2023 à 09:52, Alexander K. @.***> a écrit :



Hey,

I am observing a weird issue with data being delayed / not sent every second. See the bag I recorded below: [image]https://user-images.githubusercontent.com/20966574/221801211-c209e9c3-3af6-4bcf-b76c-58b85c995d33.png

My ellipse N is connected via RS232 -> UART to an onboard computer. Anyone having observed something similar?

Best regards,

Alex

— Reply to this email directly, view it on GitHubhttps://github.com/SBG-Systems/sbg_ros_driver/issues/83, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AEYY4KMLPU2MOCYNXQZQ2BTWZW4EBANCNFSM6AAAAAAVKNVADA. You are receiving this because you are subscribed to this thread.Message ID: @.***>

laxnpander commented 1 year ago

@rsiryani Now that you say it, I realise it matches the arrival of the GNSS raw data perfectly. So you are probably right! I disabled all messages that I don't need and reduced some frequencies here and there. Looks better now.

On another note: I've set my ellipse to 460800 Baud. When I go to 921600 Baud I get a timeout starting the ros node. So I assumed this is the limit for my serial connection. Do you have a recommendation on how to connect the Ellipse to an onboard computer to utilise the maximum possible bandwidth? USB and 921600 works flawlessly, but UART only on 460800. On the other hand, I need the synchronisation pins for my other sensors, so USB is not really any option.