Open BenoitAud opened 3 months ago
Hi,
I am running a VN-200 with this driver on ROS2 and I can't seem to make the GNSS work. I tried with the VectorNav Control Center and everything is fine. When doing ros2 topic echo /vectornav/gnss, I get this:
ros2 topic echo /vectornav/gnss
--- header: stamp: sec: 1725133832 nanosec: 635402920 frame_id: imu status: status: -1 service: 0 latitude: 0.0 longitude: 0.0 altitude: 0.0 position_covariance: - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 position_covariance_type: 2
Am I missing something when it comes to configuring the GNSS with the ROS2 driver? Here is my config file :
vectornav: ros__parameters: port: "/dev/ttyUSB0" baud: 115200 reconnect_ms: 500 adjust_ros_timestamp: true # Reference vnproglib-1.2.0.0 headers for enum definitions # Async Output Type (ASCII) AsyncDataOutputType: 0 # VNOFF # Async output Frequency (Hz) AsyncDataOutputFrequency: 1 #was 20 # Sync control syncInMode: 3 # SYNCINMODE_COUNT syncInEdge: 0 # SYNCINEDGE_RISING syncInSkipFactor: 0 syncOutMode: 0 # SYNCOUTMODE_NONE syncOutPolarity: 0 # SYNCOUTPOLARITY_NEGATIVE syncOutSkipFactor: 0 syncOutPulseWidth_ns: 100000000 # Communication protocol control serialCount: 0 # COUNTMODE_NONE serialStatus: 0 # STATUSMODE_OFF spiCount: 0 # COUNTMODE_NONE spiStatus: 0 # STATUSMODE_OFF serialChecksum: 1 # CHECKSUMMODE_CHECKSUM spiChecksum: 0 # CHECKSUMMODE_OFF errorMode: 1 # ERRORMODE_SEND # Binary output register 1 BO1: asyncMode: 1 # ASYNCMODE_BOTH --> was 3 rateDivisor: 8 # 20 Hz --> was 40 commonField: 0x201 #was 0x7FFF timeField: 0x0000 # TIMEGROUP_NONE imuField: 0x0000 # IMUGROUP_NONE # set gpsField directly in source to enforce or condition attitudeField: 0x0000 # ATTITUDEGROUP_NONE # set insField directly in source to enforce or condition gps2Field: 0x0000 # GPSGROUP_NONE # Binary output register 2 BO2: asyncMode: 0 # ASYNCMODE_NONE rateDivisor: 0 commonField: 0x0000 # COMMONGROUP_NONE timeField: 0x0000 # TIMEGROUP_NONE imuField: 0x0000 # IMUGROUP_NONE gpsField: 0x0000 # GPSGROUP_NONE attitudeField: 0x0000 # ATTITUDEGROUP_NONE insField: 0x0000 # INSGROUP_NONE gps2Field: 0x0000 # GPSGROUP_NONE # Binary output register 3 BO3: asyncMode: 0 # ASYNCMODE_NONE rateDivisor: 0 commonField: 0x0000 # COMMONGROUP_NONE timeField: 0x0000 # TIMEGROUP_NONE imuField: 0x0000 # IMUGROUP_NONE gpsField: 0x0000 # GPSGROUP_NONE attitudeField: 0x0000 # ATTITUDEGROUP_NONE insField: 0x0000 # INSGROUP_NONE gps2Field: 0x0000 # GPSGROUP_NONE frame_id: "imu" vn_sensor_msgs: ros__parameters: use_enu: true orientation_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01] angular_velocity_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01] linear_acceleration_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01] magnetic_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
Hi,
I am running a VN-200 with this driver on ROS2 and I can't seem to make the GNSS work. I tried with the VectorNav Control Center and everything is fine. When doing
ros2 topic echo /vectornav/gnss, I get this:Am I missing something when it comes to configuring the GNSS with the ROS2 driver? Here is my config file :