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rpng / reach_ros_node

ROS driver for the Reach RTK GNSS module by Emlid
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pairing tcpvel and tcpfix #11

Open ArtlyStyles opened 4 years ago

ArtlyStyles commented 4 years ago

I noticed that the repo publish tcpvel and tcpfix separately. How can I pair the tcpvel and tcpfix message to make sure they come from the same emlid data packet?

Also, the tcpvel linear has a Nan when the object is not moving. Could you fix it?

goldbattle commented 4 years ago

You could try checking the timestamps, but the velocity publishing is normally a different data packet from the positional. You could sync outside of this package in your subscriber or try to change the logic here: https://github.com/rpng/reach_ros_node/blob/master/src/reach_ros_node/driver.py#L83-L108

ArtlyStyles commented 4 years ago

Did you notice that emlid GPS data has an latency issue?

goldbattle commented 4 years ago

I would assume there would be if you are using RTK since that has a motino profile, but I am not sure about normal GPS.

ArtlyStyles commented 4 years ago

I am using RTK. Do you know how much the latency is?

goldbattle commented 4 years ago

I do not have any estimate or a guess.

On Tue, May 5, 2020 at 1:04 PM Artly notifications@github.com wrote:

I am using RTK. Do you know how much the latency is?

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ArtlyStyles commented 4 years ago

I found it was about 150ms https://twitter.com/SmallpixelCar/status/1258825869281222657