MAVROS GPS RTK - Githubissues

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Issue details

Hi,

I'm working on integrating the Emlid GPS RTK to be used with mavros on a Rover. I've set up all the hardware and am able to get the rtk working through Mission Planner.

However, when I try to use mavros gps_rtk plugin, I am not getting the GPS status to be rtk. I know ROS doesn't support GPS statuses, so I've changed mavros a bit to pass up a status from raw_fix in global_position.cpp.

Here's how I am listening to RTCP corrections and publishing on the send_rtcm topic:

def listen_tcp_and_publish_fix():
    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    TCP_IP = socket.gethostbyname(TCP_HOSTNAME)
    s.connect((TCP_IP, TCP_PORT))

    while 1:
        data = s.recv(BUFFER_SIZE)
        data = bytearray(data)
        h = Header()
        h.stamp = rospy.Time.now()

        r = RTCM()
        r.header = h
        r.data = list(data)
        rtk_pub.publish(r)
    s.close()
if __name__ == '__main__':
    rospy.init_node('rtk_listener')
    rtk_pub = rospy.Publisher('/sally/mavros/gps_rtk/send_rtcm', RTCM, queue_size=1)
    listen_tcp_and_publish_fix()

I'm not even sure where to look next, so any pointers would be appreciated.

MAVROS version and platform

Mavros: 0.29.2 ROS: Kinetic Ubuntu: 16.04

Autopilot type and version

[ x ] ArduPilot [ ] PX4

Version: Latest

Node logs

copy output of mavros_node. Usually console where you run roslaunch

Diagnostics

place here result of:
rostopic echo -n1 /diagnostics

Check ID

rosrun mavros checkid

mavlink / mavros