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ethz-asl / ethzasl_xsens_driver

Driver for xsens IMUs
BSD 2-Clause "Simplified" License
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No /fix topic in rostopic list #35

Closed fredd2409 closed 7 years ago

fredd2409 commented 7 years ago

I have a problem similar to this one. I configured my device with rosrun xsens_driver mtdevice.py -c pl,pa,oq,aa,gu,iu,vv,ns,tt so I'd expect the GPS position in the fix topic in addition to temperature, imu data and a time reference.

I get the following rostopic list: /imu/data /imu_data_str /rosout /rosout_agg /temperature /time_reference but no /fix.

The following is the output of rosrun xsens_driver mtdevice.py -i: Device: /dev/ttyUSB0 at 115200 Bd: device ID: 0x077001B1 product code: 'MTi-G-700-2A5G4' firmware revision: (1, 3, 1) baudrate: 2 error mode: message unsupported by your device. option flags: message unsupported by your device. location ID: 0x0000 transmit delay: message unsupported by your device. synchronization settings: [(0x09, 0x01, 0x01, 0x00, 0x0000, 0x0000, 0x0000, 0x00FA)] general configuration: { 'Master device ID': 124780977, 'date': '\x00\x00\x00\x00\x00\x00\x00\x00', 'device ID': 124780977, 'length': 0, 'number of devices': 1, 'output-mode': 4, 'output-settings': 1, 'period': 1152, 'skipfactor': 0, 'time': '\x00\x00\x00\x00\x00\x00\x00\x00'} output configuration (mark IV devices): [(0x5040, 400), (0x5020, 400), (0x2010, 400), (0x4020, 400), (0x8880, 4), (0x1010, 65535), (0xD010, 400), (0x7020, 65535), (0x0810, 1)] string output type: message unsupported by your device. period: 1152 alignment rotation sensor: message unsupported by your device. alignment rotation local: message unsupported by your device. output mode: 0x0004 extended output mode: 0x0000 output settings: 0x00000001 GPS coordinates (lat, lon, alt): (48.090746326178206, 11.648389707186944, 618.7559459684417) available scenarios: [ (1, 4, 'General'), (2, 4, 'GeneralNoBaro'), (3, 4, 'GeneralMag'), (4, 4, 'Automotive'), (5, 4, 'AutoUrbanCanyon')] current scenario ID: 1 UTC time: (327200000, 1970, 1, 1, 1, 13, 37, 0)

Is there anything unusual in the output or am I configuring the device in the wrong way?

Thanks a lot in advance!

fredd2409 commented 7 years ago

My mistake, I thought that the /fix topic would be published (with 0s or a flag) even when there is no satellite signal.