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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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Backported RTCM subscriber and NMEA GGA publisher from ROS2 driver #88

Closed cledant closed 1 year ago

cledant commented 1 year ago

In order to support a third party NTRIP client ROS module, an RTCM subscriber and NMEA GGA publisher were added.
Those changes were backported from ROS2 driver.

aronasefaw commented 1 year ago

Great work, its really appreciated! However we tried using it for our SBG and encountered some issues, we are publishing the nmea messages and getting the rtcm messages but the corrections doesn't seem to be applied to the right interface as we're not seeing a change is position accuracy? Could it just be a setting we forgot to set in the sbg center that is not available through the config file in the ros driver?

cledant commented 1 year ago

It might be a device configuration issue.
In sbgCenter, when configuring the device, in Assignment panel, RTCM should be set to Port A.

asherikov commented 1 year ago

In sbgCenter, when configuring the device, in Assignment panel, RTCM should be set to Port A.

Warning for other users: this is not possible on some (older?) devices, RTCM is bound to other ports;

Also, config/example/*.yaml files should be updated too. 

rsiryani commented 1 year ago

Hi @asherikov, ELLIPSE-N and ELLIPSE-D can accept RTCM on any port since firmware 2.2.41-stable.

It is not related to the hardware but only the firmware that can be easily downloaded and update for free. The firmware is compatible with all ELLIPSE hardware revisions from 1 to 3.

However, keep in mind that ELLIPSE-N v1/v2 are not RTK capable and will only deliver DGPS if RTCM corrections are fed.

Regards,

asherikov commented 1 year ago

@rsiryani , thanks for the feedback, however, I cannot set RTCM aid to anything but port C via sbgCenter, I am playing with Ellipse2-D (firmware 2.4.413-stable, hardware 2.0.0.0), sbgCenter version is 3.5.458-stable. Do I have to set the port via sbgECom?

rsiryani commented 1 year ago

Hi @asherikov, sorry for the misleading information. You are right, on ELLIPSE 1 and 2 D, RTCM input is hardwired on Port C. The firmware should forbid any other setting for these products and it is not a bug but rather a design decision.

Could you please contact the support team on support@sbg-systems.com so we can better address your request and assist you. Please refer this thread in your request.

Kind Regards,