msg_used time to time jump to 1 from 2

aussierobots / ublox_dgnss

This usb based ROS2 driver is focused on UBLOX Generation 9 UBX messaging, for a DGNSS rover. High precision data is available.

Apache License 2.0

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msg_used time to time jump to 1 from 2 #21

Closed GPrathap closed 5 months ago

GPrathap commented 5 months ago

I was running ublox_rover_hpposllh_navsatfix.launch.py with an NTRIP Client. I get /fix reading. However,

ros2 topic echo /ubx_rxm_rtcm

msg_used shows 2, but from time to time msg_used shows 1. Could it have something to do with frequency? I used the default parameters. Are there any parameters that I should look for?

GPrathap commented 5 months ago

After checking this https://github.com/aussierobots/ublox_dgnss/blob/main/ublox_ubx_msgs/msg/UBXRxmRTCM.msg#L10

Is it okay to publish https://github.com/aussierobots/ublox_dgnss/blob/main/ublox_nav_sat_fix_hp_node/src/ublox_nav_sat_fix_hp_node.cpp#L124 only if msg_used is equal to 2? Or is this bug in the GPS device?

hortovanyi commented 5 months ago

Different purposes. One shows that the ublox device received and used a RTCM message. The other publishes the old NavSatFix message using the UBX messages published for the node