andrewpriddis
commented
9 months ago I'd suggest you use our other tools to understand how the setup process works and that you are able to successfully stream data before moving onto the ROS integration. Are you testing outside with a good GPS signal? If there isn't GPS/RTK data generated/received then the topic will not be published.
[image: Inertial Sense] http://www.inertialsense.com/ Andrew Priddis Sr Systems Engineer @.** inertialsense.com* http://www.inertialsense.com/
On Mon, Oct 9, 2023 at 10:42 AM jkaob @.***> wrote:
Hi, I have been unsuccessfully trying to figure out how to use the ROS node to enable the RTK compassing for the EVB2.1, using two antennas connected to the F9Ps.
I am using the example_params.launch as a template. I am able to get readings from both, after flashing the board and enabling the gps1 and gps2 parameters in the launch params, but I am not able to get the RTK_Rel_callback() to trigger, or to get anything published on /RTK_cmp/info or /RTK_cmp/rel topics.
Some of the parameters that i have tried to configure (unsuccessfully):
topic: "inertialsense" port: [/dev/ttyACM0, /dev/ttyACM1] baudrate: 921600 ref_lla: [59.921078, 10.686089, 39.49] # (this doesnt seem to change the NED odom outputs?) platformConfig: 11 # PLATFORM_CFG_TYPE_EVB2_G2 ioConfig: 0x26CA060 # "inertialSenseDocs.pdf" suggests 0x...040
gps1: enabled: true type: 'F9P' antenna_offset: [0.1, 0, 0] # X,Y,Z gpsTimeUserDelay: 0.0 messages: gps1: topic: "ins/gps1/gps1" enable: true # no effect ? pos_vel: topic: "ins/gps1/pos_vel" enable: true period: 1 info: topic: "ins/gps1/info" enable: true period: 5 ... rtk_pos_rel: # Relative measurement between RTK positioning base and rover topic: "ins/gps1/rtk_rel_pos" # no output? enable: true period: 1 rel: enable: true topic: "ins/rel" # no effect ? base topic: "ins/base" rel: topic: "ins/rel" # no effect ? info: topic: "ins/info" compass: topic: "ins/compass" # no effect ? enable: true rel: topic: "ins/rel" info: topic: "ins/info"
gps2: # pretty much same as gps1 enabled: true type: 'F9P' ...
evb: cb_preset: 3
rtk_rover: enabled: true correction_destination: # this defines which GPSs get RTK Corrections gps1: positioning # RTK precision positioning at GPS1 (RTK corrections are sent to GPS1) gps2: compassing # Enable RTK compassing (dual GNSS moving baseline RTK) at GPS2 gps3: none # Disable RTK corrections at GPS3
positioning_enable: false # Enable RTK precision positioning at GPS1 compassing_enable: true # Enable RTK compassing (dual GNSS moving baseline RTK) at GPS2 correction_input: select: xbee_radio # Select correction input settings xbee_radio: type: "evb" format: RTCM3 port: "xbee" baud_rate: 115200
rtk_base: enable: false
A source of confusion to me is the configuration of rtk rover. I want the GPS2 to send corrections to GPS1, which i assume must be done through Xbee? Unless you can configure which serial port to use?
There are also alot of parameters in the yaml file that seem obsolete/contradicting of other configurations, as the comments indicate. Can't see if they actually trigger anything, because the topics are not appearing.
Am I approaching this in the correct way? All I am trying to do, is to configure the dual antennas so that they can output the heading, without having to manually compute that from the 2 incoming GNSS signals. Thanks for any guidance / clarifications
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jkaob
Hi, I have been unsuccessfully trying to figure out how to use the ROS node to enable the RTK compassing for the EVB2.1, using two antennas connected to the F9Ps.
I am using the
example_params.launchas a template. I am able to get readings from both, after flashing the board and enabling the gps1 and gps2 parameters in the launch params, but I am not able to get theRTK_Rel_callback()to trigger, or to get anything published on/RTK_cmp/infoor/RTK_cmp/reltopics.Some of the parameters that i have tried to configure (unsuccessfully):
A source of confusion to me is the configuration of rtk rover. I want the GPS2 to send corrections to GPS1, which i assume must be done through Xbee? Unless you can configure which serial port to use?
There are also alot of parameters in the yaml file that seem obsolete/contradicting of other configurations, as the comments indicate. Can't see if they actually trigger anything, because the topics are not appearing.
Am I approaching this in the correct way? All I am trying to do, is to configure the dual antennas so that they can output the heading, without having to manually compute that from the 2 incoming GNSS signals. Thanks for any guidance / clarifications