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septentrio-gnss / septentrio_gnss_driver

ROS 1 & 2 driver for Septentrio GNSS & INS receivers
BSD 3-Clause "New" or "Revised" License
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Mosaic X5: Ntrip of rtk_settings does not work for ROS 1 (ROS Noetic) driver on Ubuntu 20.04 #114

Open echoGee opened 7 months ago

echoGee commented 7 months ago

We are using the following setting file on the yaml file. The ntrip settings work using the datalink, but not the ros driver. 

# Configuration Settings for the Rover Rx

# GNSS/INS Parameters

device: tcp://192.168.3.1:28784

serial:
  baudrate: 921600
  hw_flow_control: "off"

stream_device:
  tcp:
    ip_server: ""
    port: 0
  udp:
    ip_server: ""
    port: 0
    unicast_ip: ""

configure_rx: true

login:
  user: ""
  password: ""

osnma:
  mode: "loose"
  ntp_server: ""
  keep_open: true

frame_id: gnss

aux1_frame_id: aux1

get_spatial_config_from_tf: true

use_ros_axis_orientation: true

receiver_type: gnss

multi_antenna: false

datum: Default

att_offset:
  heading: 0.0
  pitch: 0.0

ant_type: "Unknown"
ant_serial_nr: "Unknown"
ant_aux1_type: "Unknown"
ant_aux1_serial_nr: "Unknown"

polling_period:
  pvt: 0
  rest: 500

use_gnss_time: false

latency_compensation: false

rtk_settings:  
  ntrip_1:
    id: "RTS1"
    caster: "xx.com"
    caster_port: 2101
    username: "aa"
    password: "aa"
    mountpoint: "aa"
    version: "v2"
    tls: false
    fingerprint: ""
    rtk_standard: "auto"
    send_gga: "auto"
    keep_open: true
  ip_server_1:
    id: ""
    port: 0
    rtk_standard: "auto"
    send_gga: "auto"
    keep_open: true
  serial_1:
    port: ""
    baud_rate: 115200
    rtk_standard: "auto"
    send_gga: "auto"
    keep_open: true

publish:
  # For both GNSS and INS Rxs
  navsatfix: true
  gpsfix: true
  gpgga: true
  gprmc: true
  gpst: true
  measepoch: true
  pvtcartesian: true
  pvtgeodetic: true
  basevectorcart: false
  basevectorgeod: false
  poscovcartesian: true
  poscovgeodetic: true
  velcovcartesian: false
  velcovgeodetic: true
  atteuler: false
  attcoveuler: true
  pose: true
  twist: false
  diagnostics: true
  aimplusstatus: true
  galauthstatus: false
  # For GNSS Rx only
  gpgsa: false
  gpgsv: false
# logger

activate_debug_log: true

Terminal output 

CLEAR PARAMETERS
 * /septentrio_gnss/

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /septentrio_gnss/activate_debug_log: True
 * /septentrio_gnss/ant_aux1_serial_nr: Unknown
 * /septentrio_gnss/ant_aux1_type: Unknown
 * /septentrio_gnss/ant_serial_nr: Unknown
 * /septentrio_gnss/ant_type: Unknown
 * /septentrio_gnss/att_offset/heading: 0.0
 * /septentrio_gnss/att_offset/pitch: 0.0
 * /septentrio_gnss/aux1_frame_id: aux1
 * /septentrio_gnss/configure_rx: True
 * /septentrio_gnss/datum: Default
 * /septentrio_gnss/device: tcp://192.168.3.1...
 * /septentrio_gnss/frame_id: gnss
 * /septentrio_gnss/get_spatial_config_from_tf: True
 * /septentrio_gnss/latency_compensation: False
 * /septentrio_gnss/login/password: 
 * /septentrio_gnss/login/user: 
 * /septentrio_gnss/multi_antenna: False
 * /septentrio_gnss/osnma/keep_open: True
 * /septentrio_gnss/osnma/mode: loose
 * /septentrio_gnss/osnma/ntp_server: 
 * /septentrio_gnss/polling_period/pvt: 0
 * /septentrio_gnss/polling_period/rest: 500
 * /septentrio_gnss/publish/aimplusstatus: True
 * /septentrio_gnss/publish/attcoveuler: True
 * /septentrio_gnss/publish/atteuler: False
 * /septentrio_gnss/publish/basevectorcart: False
 * /septentrio_gnss/publish/basevectorgeod: False
 * /septentrio_gnss/publish/diagnostics: True
 * /septentrio_gnss/publish/galauthstatus: False
 * /septentrio_gnss/publish/gpgga: True
 * /septentrio_gnss/publish/gpgsa: False
 * /septentrio_gnss/publish/gpgsv: False
 * /septentrio_gnss/publish/gprmc: True
 * /septentrio_gnss/publish/gpsfix: True
 * /septentrio_gnss/publish/gpst: True
 * /septentrio_gnss/publish/measepoch: True
 * /septentrio_gnss/publish/navsatfix: True
 * /septentrio_gnss/publish/poscovcartesian: True
 * /septentrio_gnss/publish/poscovgeodetic: True
 * /septentrio_gnss/publish/pose: True
 * /septentrio_gnss/publish/pvtcartesian: True
 * /septentrio_gnss/publish/pvtgeodetic: True
 * /septentrio_gnss/publish/twist: False
 * /septentrio_gnss/publish/velcovcartesian: False
 * /septentrio_gnss/publish/velcovgeodetic: True
 * /septentrio_gnss/receiver_type: gnss
 * /septentrio_gnss/rtk_settings/ip_server_1/id: 
 * /septentrio_gnss/rtk_settings/ip_server_1/keep_open: True
 * /septentrio_gnss/rtk_settings/ip_server_1/port: 0
 * /septentrio_gnss/rtk_settings/ip_server_1/rtk_standard: auto
 * /septentrio_gnss/rtk_settings/ip_server_1/send_gga: auto
 * /septentrio_gnss/rtk_settings/ntrip_1/caster: polaris.pointonen...
 * /septentrio_gnss/rtk_settings/ntrip_1/caster_port: 2101
 * /septentrio_gnss/rtk_settings/ntrip_1/fingerprint: 
 * /septentrio_gnss/rtk_settings/ntrip_1/id: RTS1
 * /septentrio_gnss/rtk_settings/ntrip_1/keep_open: True
 * /septentrio_gnss/rtk_settings/ntrip_1/mountpoint: POLARIS
 * /septentrio_gnss/rtk_settings/ntrip_1/password: boHKUXL6
 * /septentrio_gnss/rtk_settings/ntrip_1/rtk_standard: auto
 * /septentrio_gnss/rtk_settings/ntrip_1/send_gga: auto
 * /septentrio_gnss/rtk_settings/ntrip_1/tls: False
 * /septentrio_gnss/rtk_settings/ntrip_1/username: uiVKaM9I
 * /septentrio_gnss/rtk_settings/ntrip_1/version: v2
 * /septentrio_gnss/rtk_settings/serial_1/baud_rate: 115200
 * /septentrio_gnss/rtk_settings/serial_1/keep_open: True
 * /septentrio_gnss/rtk_settings/serial_1/port: 
 * /septentrio_gnss/rtk_settings/serial_1/rtk_standard: auto
 * /septentrio_gnss/rtk_settings/serial_1/send_gga: auto
 * /septentrio_gnss/serial/baudrate: 921600
 * /septentrio_gnss/serial/hw_flow_control: off
 * /septentrio_gnss/stream_device/tcp/ip_server: 
 * /septentrio_gnss/stream_device/tcp/port: 0
 * /septentrio_gnss/stream_device/udp/ip_server: 
 * /septentrio_gnss/stream_device/udp/port: 0
 * /septentrio_gnss/stream_device/udp/unicast_ip: 
 * /septentrio_gnss/use_gnss_time: False
 * /septentrio_gnss/use_ros_axis_orientation: True

NODES
  /
    septentrio_gnss (septentrio_gnss_driver/septentrio_gnss_driver_node)
    tf_aux1 (tf2_ros/static_transform_publisher)
    tf_gnss (tf2_ros/static_transform_publisher)
    tf_imu (tf2_ros/static_transform_publisher)
    tf_vsm (tf2_ros/static_transform_publisher)

auto-starting new master
process[master]: started with pid [98532]
ROS_MASTER_URI=http://192.168.68.102:11311

setting /run_id to c8cbb85e-d5c5-11ee-bad2-7336b3283a47
process[rosout-1]: started with pid [98542]
started core service [/rosout]
process[tf_imu-2]: started with pid [98550]
process[tf_gnss-3]: started with pid [98551]
process[tf_vsm-4]: started with pid [98552]
process[tf_aux1-5]: started with pid [98554]
process[septentrio_gnss-6]: started with pid [98564]
[DEBUG] [1709075595.367863620]: /septentrio_gnss: Called ROSaicNode() constructor..
[DEBUG] [1709075595.383316718]: /septentrio_gnss: IMU roll offset: 180.000000
[DEBUG] [1709075595.383354303]: /septentrio_gnss: IMU pitch offset: -0.000000
[DEBUG] [1709075595.383366723]: /septentrio_gnss: IMU yaw offset: -0.000000
[DEBUG] [1709075595.383378147]: /septentrio_gnss: Ant heading offset: -0.000000
[DEBUG] [1709075595.383389239]: /septentrio_gnss: Ant pitch offset: -0.000000
[DEBUG] [1709075595.387879735]: /septentrio_gnss: Finished getROSParams() method
[DEBUG] [1709075595.387890406]: /septentrio_gnss: Called connect() method
[DEBUG] [1709075595.387895906]: /septentrio_gnss: Started timer for calling connect() method until connection succeeds
[DEBUG] [1709075595.387917853]: /septentrio_gnss: Called initializeIo() method
[DEBUG] [1709075595.387924438]: /septentrio_gnss: AsyncManager created.
[ INFO] [1709075595.388044026]: /septentrio_gnss: Connecting to tcp://192.168.3.1:28784...
[ INFO] [1709075595.388872117]: /septentrio_gnss: Connected to 192.168.3.1:28784.
[DEBUG] [1709075595.388943473]: /septentrio_gnss: Configure Rx.
[DEBUG] [1709075595.388951642]: /septentrio_gnss: Called configureRx() method
SSSSSSSSSS709075595.389037128]: /septentrio_gnss: AsyncManager sent the following 13 bytes to the Rx: 
[DEBUG] [1709075595.403938667]: /septentrio_gnss: handleCd: IP10>
SSSSSSSSSS709075595.404046424]: /septentrio_gnss: AsyncManager sent the following 13 bytes to the Rx: 
[DEBUG] [1709075595.405578521]: /septentrio_gnss: handleCd: IP10>
SSSSSSSSSS709075595.405701652]: /septentrio_gnss: AsyncManager sent the following 13 bytes to the Rx: 
[DEBUG] [1709075595.406815184]: /septentrio_gnss: handleCd: IP10>
[ INFO] [1709075595.406940210]: /septentrio_gnss: The connection descriptor is IP10
[ INFO] [1709075595.406972489]: /septentrio_gnss: Setting up Rx.
[DEBUG] [1709075595.407035277]: /septentrio_gnss: AsyncManager sent the following 27 bytes to the Rx: sso, all, none, none, off 
[DEBUG] [1709075595.428538794]: Trying to publish message of type [septentrio_gnss_driver/MeasEpoch/4cf9a1d78edfe10d2a772f4a50dd0645] on a publisher with type [septentrio_gnss_driver/MeasEpoch/4cf9a1d78edfe10d2a772f4a50dd0645]
[DEBUG] [1709075595.429645219]: Trying to publish message of type [septentrio_gnss_driver/PVTCartesian/98b7f07c88704d34a9797ee6019c2d54] on a publisher with type [septentrio_gnss_driver/PVTCartesian/98b7f07c88704d34a9797ee6019c2d54]
[DEBUG] [1709075595.430732756]: Trying to publish message of type [septentrio_gnss_driver/PVTGeodetic/4d3911a0efd862e13c076ba7d322cd3e] on a publisher with type [septentrio_gnss_driver/PVTGeodetic/4d3911a0efd862e13c076ba7d322cd3e]
[DEBUG] [1709075595.431444311]: Trying to publish message of type [sensor_msgs/TimeReference/fded64a0265108ba86c3d38fb11c0c16] on a publisher with type [sensor_msgs/TimeReference/fded64a0265108ba86c3d38fb11c0c16]
[DEBUG] [1709075595.432126714]: Trying to publish message of type [septentrio_gnss_driver/PosCovCartesian/6f9c694efd927f0282537b2693bfa92f] on a publisher with type [septentrio_gnss_driver/PosCovCartesian/6f9c694efd927f0282537b2693bfa92f]
[DEBUG] [1709075595.432918284]: Trying to publish message of type [septentrio_gnss_driver/PosCovGeodetic/d5a0ad571ba33ff67cc97dcff03d6b87] on a publisher with type [septentrio_gnss_driver/PosCovGeodetic/d5a0ad571ba33ff67cc97dcff03d6b87]
[DEBUG] [1709075595.433642995]: Trying to publish message of type [sensor_msgs/NavSatFix/2d3a8cd499b9b4a0249fb98fd05cfa48] on a publisher with type [sensor_msgs/NavSatFix/2d3a8cd499b9b4a0249fb98fd05cfa48]
[DEBUG] [1709075595.434409445]: Trying to publish message of type [septentrio_gnss_driver/VelCovGeodetic/b62aa4ae504c44f18ac72015246a1586] on a publisher with type [septentrio_gnss_driver/VelCovGeodetic/b62aa4ae504c44f18ac72015246a1586]
[DEBUG] [1709075595.435125066]: Trying to publish message of type [septentrio_gnss_driver/AttCovEuler/e0afc6c2dfb1f98f719a573ace215ea7] on a publisher with type [septentrio_gnss_driver/AttCovEuler/e0afc6c2dfb1f98f719a573ace215ea7]
[DEBUG] [1709075595.435734713]: Trying to publish message of type [geometry_msgs/PoseWithCovarianceStamped/953b798c0f514ff060a53a3498ce6246] on a publisher with type [geometry_msgs/PoseWithCovarianceStamped/953b798c0f514ff060a53a3498ce6246]
[DEBUG] [1709075595.436311908]: Trying to publish message of type [gps_common/GPSFix/3db3d0a7bc53054c67c528af84710b70] on a publisher with type [gps_common/GPSFix/3db3d0a7bc53054c67c528af84710b70]
[DEBUG] [1709075595.490975271]: /septentrio_gnss: The Rx's response contains 32 bytes and reads:
 $R: sso, all, none, none, off 

[DEBUG] [1709075595.491062759]: /septentrio_gnss: A message received:   SBFOutput, Stream1, none, none, off

[DEBUG] [1709075595.491095212]: /septentrio_gnss: A message received:   SBFOutput, Stream2, none, none, off

[DEBUG] [1709075595.491123871]: /septentrio_gnss: A message received:   SBFOutput, Stream3, none, none, off

[DEBUG] [1709075595.491177354]: /septentrio_gnss: A message received:   SBFOutput, Stream4, none, none, off

[DEBUG] [1709075595.491285265]: /septentrio_gnss: AsyncManager sent the following 27 bytes to the Rx: sno, all, none, none, off 
[DEBUG] [1709075595.491515849]: /septentrio_gnss: A message received:   SBFOutput, Stream5, none, none, off

[DEBUG] [1709075595.491590317]: /septentrio_gnss: A message received:   SBFOutput, Stream6, none, none, off

[DEBUG] [1709075595.491622001]: /septentrio_gnss: A message received:   SBFOutput, Stream7, none, none, off

[DEBUG] [1709075595.491668219]: /septentrio_gnss: A message received:   SBFOutput, Stream8, none, none, off

[DEBUG] [1709075595.491751402]: /septentrio_gnss: A message received:   SBFOutput, Stream9, none, none, off

[DEBUG] [1709075595.491838651]: /septentrio_gnss: A message received:   SBFOutput, Stream10, none, none, off

[DEBUG] [1709075595.491916533]: /septentrio_gnss: A message received:   SBFOutput, Res1, none, none, off

[DEBUG] [1709075595.491993608]: /septentrio_gnss: A message received:   SBFOutput, Res2, none, none, off

[DEBUG] [1709075595.492071214]: /septentrio_gnss: A message received:   SBFOutput, Res3, none, none, off

[DEBUG] [1709075595.492149196]: /septentrio_gnss: A message received:   SBFOutput, Res4, none, none, off

[DEBUG] [1709075595.492185889]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.549991918]: /septentrio_gnss: The Rx's response contains 32 bytes and reads:
 $R: sno, all, none, none, off 

[DEBUG] [1709075595.550074017]: /septentrio_gnss: A message received:   NMEAOutput, Stream1, none, none, off

[DEBUG] [1709075595.550099842]: /septentrio_gnss: A message received:   NMEAOutput, Stream2, none, none, off

[DEBUG] [1709075595.550122400]: /septentrio_gnss: A message received:   NMEAOutput, Stream3, none, none, off

[DEBUG] [1709075595.550242128]: /septentrio_gnss: AsyncManager sent the following 5 bytes to the Rx: grc 
[DEBUG] [1709075595.550462847]: /septentrio_gnss: A message received:   NMEAOutput, Stream4, none, none, off

[DEBUG] [1709075595.550531727]: /septentrio_gnss: A message received:   NMEAOutput, Stream5, none, none, off

[DEBUG] [1709075595.550586772]: /septentrio_gnss: A message received:   NMEAOutput, Stream6, none, none, off

[DEBUG] [1709075595.550772650]: /septentrio_gnss: A message received:   NMEAOutput, Stream7, none, none, off

[DEBUG] [1709075595.550833508]: /septentrio_gnss: A message received:   NMEAOutput, Stream8, none, none, off

[DEBUG] [1709075595.550901293]: /septentrio_gnss: A message received:   NMEAOutput, Stream9, none, none, off

[DEBUG] [1709075595.551076863]: /septentrio_gnss: A message received:   NMEAOutput, Stream10, none, none, off

[DEBUG] [1709075595.551140046]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.552215942]: /septentrio_gnss: The Rx's response contains 10 bytes and reads:
 $R: grc 

[DEBUG] [1709075595.553256576]: /septentrio_gnss: A message received:   ReceiverCapabilities, Main, GPSL1CA+GPSL1PY+GPSL2PY+GPSL2C+GPSL5+GLOL1CA+GLOL2P+GLOL2CA+GLOL3+GALL1BC+GALE6BC+GALE5a+GALE5b+GALE5+GEOL1+GEOL5+BDSB1I+BDSB2I+BDSB3I+BDSB1C+BDSB2a+BDSB2b+QZSL1CA+QZSL2C+QZSL5+QZSL1CB+LBAND+NAVICL5, DSK1+COM1+COM2+COM3+COM4+USB1+USB2+IP10+IP11+IP12+IP13+IP14+IP15+IP16+IP17+NTR1+NTR2+NTR3+NTR4+IPS1+IPS2+IPS3+IPS4+IPS5+IPR1+IPR2+IPR3+IPR4+IPR5, SBAS+DGNSSRover+DGNSSBase+RTKRover+RTKBase+RTCMv23+RTCMv3x+CMRv20+xPPSOutput+TimedEvent+InternalLogging+APME+RAIM+MovingBase+MeasAv+IM+DSK1, 10, 10

[DEBUG] [1709075595.553332195]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.553421639]: /septentrio_gnss: AsyncManager sent the following 11 bytes to the Rx: sgd, WGS84
[DEBUG] [1709075595.611827318]: /septentrio_gnss: The Rx's response contains 16 bytes and reads:
 $R: sgd, WGS84

[DEBUG] [1709075595.611927238]: /septentrio_gnss: A message received:   GeodeticDatum, WGS84

[DEBUG] [1709075595.611973033]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.612127415]: /septentrio_gnss: AsyncManager sent the following 51 bytes to the Rx: sao, Main, 0.000, 0.000, 0.000, "Unknown", Unknown
[DEBUG] [1709075595.671291174]: /septentrio_gnss: The Rx's response contains 56 bytes and reads:
 $R: sao, Main, 0.000, 0.000, 0.000, "Unknown", Unknown

[DEBUG] [1709075595.671381465]: /septentrio_gnss: A message received:   AntennaOffset, Main, 0.0000, 0.0000, 0.0000, "Unknown", "Unknown", 0

[DEBUG] [1709075595.671421395]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.671605275]: /septentrio_gnss: AsyncManager sent the following 17 bytes to the Rx: snts, RTS1, off 
[ERROR] [1709075595.673451374]: /septentrio_gnss: Invalid command just sent to the Rx! The Rx's response contains 57 bytes and reads:
 $R? setNtripSettings: Tabular argument 'Cd' is invalid!

[DEBUG] [1709075595.673473856]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.673526592]: /septentrio_gnss: AsyncManager sent the following 90 bytes to the Rx: snts, RTS1, Client, polaris.pointonenav.com, 2101, uiVKaM9I, boHKUXL6, POLARIS, v2, auto 
[ERROR] [1709075595.675336276]: /septentrio_gnss: Invalid command just sent to the Rx! The Rx's response contains 57 bytes and reads:
 $R? setNtripSettings: Tabular argument 'Cd' is invalid!

[DEBUG] [1709075595.675358074]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.675400714]: /septentrio_gnss: AsyncManager sent the following 17 bytes to the Rx: sntt, RTS1, off 
[ERROR] [1709075595.677072412]: /septentrio_gnss: Invalid command just sent to the Rx! The Rx's response contains 60 bytes and reads:
 $R? setNtripTlsSettings: Tabular argument 'Cd' is invalid!

[DEBUG] [1709075595.677112870]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.677216136]: /septentrio_gnss: AsyncManager sent the following 11 bytes to the Rx: sga, none 
[DEBUG] [1709075595.736061589]: /septentrio_gnss: The Rx's response contains 16 bytes and reads:
 $R: sga, none 

[DEBUG] [1709075595.736129061]: /septentrio_gnss: A message received:   GNSSAttitude, none

[DEBUG] [1709075595.736150843]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.736243022]: /septentrio_gnss: AsyncManager sent the following 21 bytes to the Rx: sto, -0.000, -0.000 
[DEBUG] [1709075595.795349426]: /septentrio_gnss: The Rx's response contains 26 bytes and reads:
 $R: sto, -0.000, -0.000 

[DEBUG] [1709075595.795496903]: /septentrio_gnss: A message received:   AttitudeOffset, 0.000, 0.000

[DEBUG] [1709075595.795553166]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.795676391]: /septentrio_gnss: AsyncManager sent the following 12 bytes to the Rx: sou, loose 
[DEBUG] [1709075595.857391424]: /septentrio_gnss: The Rx's response contains 17 bytes and reads:
 $R: sou, loose 

[DEBUG] [1709075595.857453209]: /septentrio_gnss: A message received:   GalOSNMAUsage, loose, ""

[DEBUG] [1709075595.857477795]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.857563631]: /septentrio_gnss: AsyncManager sent the following 97 bytes to the Rx: sso, Stream1, IP10, +ReceiverStatus +QualityInd +RFStatus +GALAuthStatus +ReceiverSetup, msec500
[DEBUG] [1709075595.860315670]: /septentrio_gnss: receiver setup firmware: 4.14.4
[DEBUG] [1709075595.917653463]: /septentrio_gnss: The Rx's response contains 102 bytes and reads:
 $R: sso, Stream1, IP10, +ReceiverStatus +QualityInd +RFStatus +GALAuthStatus +ReceiverSetup, msec500

[DEBUG] [1709075595.917785424]: /septentrio_gnss: A message received:   SBFOutput, Stream1, IP10, GALAuthStatus+ReceiverStatus+ReceiverSetup+QualityInd+RFStatus, msec500

[DEBUG] [1709075595.917927314]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.918011800]: /septentrio_gnss: AsyncManager sent the following 13 bytes to the Rx: sop, "", "" 
[DEBUG] [1709075595.920298971]: /septentrio_gnss: receiver setup firmware: 4.14.4
[DEBUG] [1709075595.977278544]: /septentrio_gnss: The Rx's response contains 18 bytes and reads:
 $R: sop, "", "" 

[DEBUG] [1709075595.977370351]: /septentrio_gnss: A message received:   ObserverParameters, "", ""

[DEBUG] [1709075595.977432868]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075595.977607395]: /septentrio_gnss: AsyncManager sent the following 9 bytes to the Rx: snti, GP
[DEBUG] [1709075596.007533785]: Trying to publish message of type [diagnostic_msgs/DiagnosticArray/60810da900de1dd6ddd437c3503511da] on a publisher with type [diagnostic_msgs/DiagnosticArray/60810da900de1dd6ddd437c3503511da]
[DEBUG] [1709075596.008823839]: Trying to publish message of type [septentrio_gnss_driver/RFStatus/6223e703baf4d3da19e391be72a94d34] on a publisher with type [septentrio_gnss_driver/RFStatus/6223e703baf4d3da19e391be72a94d34]
[DEBUG] [1709075596.010103838]: Trying to publish message of type [septentrio_gnss_driver/AIMPlusStatus/85cf4fc2fc2598dca0b9bb856cb2dcdd] on a publisher with type [septentrio_gnss_driver/AIMPlusStatus/85cf4fc2fc2598dca0b9bb856cb2dcdd]
[DEBUG] [1709075596.035534132]: /septentrio_gnss: The Rx's response contains 14 bytes and reads:
 $R: snti, GP

[DEBUG] [1709075596.035569626]: /septentrio_gnss: A message received:   NMEATalkerID, GP

[DEBUG] [1709075596.035582183]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075596.035636264]: /septentrio_gnss: AsyncManager sent the following 40 bytes to the Rx: sno, Stream2, IP10, +GGA +RMC, OnChange
[DEBUG] [1709075596.108394140]: Trying to publish message of type [nmea_msgs/Gprmc/02533bac67f17457b2e3538525ba1aae] on a publisher with type [nmea_msgs/Gprmc/02533bac67f17457b2e3538525ba1aae]
[DEBUG] [1709075596.109505008]: Trying to publish message of type [nmea_msgs/Gpgga/8f51cb504898f39d8ad9f698f0b6f9cd] on a publisher with type [nmea_msgs/Gpgga/8f51cb504898f39d8ad9f698f0b6f9cd]
[DEBUG] [1709075596.126800061]: /septentrio_gnss: The Rx's response contains 45 bytes and reads:
 $R: sno, Stream2, IP10, +GGA +RMC, OnChange

[DEBUG] [1709075596.126878306]: /septentrio_gnss: A message received:   NMEAOutput, Stream2, IP10, GGA+RMC, OnChange

[DEBUG] [1709075596.126915276]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075596.127053735]: /septentrio_gnss: AsyncManager sent the following 174 bytes to the Rx: sso, Stream3, IP10, +ReceiverTime +PVTCartesian +PVTGeodetic +PosCovCartesian +PosCovGeodetic +VelCovGeodetic +AttEuler +AttCovEuler +MeasEpoch +ChannelStatus +DOP, OnChange
[DEBUG] [1709075596.188288429]: /septentrio_gnss: The Rx's response contains 179 bytes and reads:
 $R: sso, Stream3, IP10, +ReceiverTime +PVTCartesian +PVTGeodetic +PosCovCartesian +PosCovGeodetic +VelCovGeodetic +AttEuler +AttCovEuler +MeasEpoch +ChannelStatus +DOP, OnChange

[DEBUG] [1709075596.188505461]: /septentrio_gnss: A message received:   SBFOutput, Stream3, IP10, MeasEpoch+AttEuler+PVTCartesian+PosCovCartesian+PVTGeodetic+PosCovGeodetic+VelCovGeodetic+DOP+ReceiverTime+ChannelStatus+AttCovEuler, OnChange

[DEBUG] [1709075596.188548986]: /septentrio_gnss: handleCd: IP10>
[DEBUG] [1709075596.188709547]: /septentrio_gnss: Leaving configureRx() method
[ INFO] [1709075596.188769319]: /septentrio_gnss: Setup complete.
[DEBUG] [1709075596.188799802]: /septentrio_gnss: Successully connected. Leaving connect() method
[DEBUG] [1709075596.188869958]: /septentrio_gnss: Leaving ROSaicNode() constructor..
thomasemter commented 7 months ago

Hi @echoGee ,

did you activate internet forwarding? An explanation on how to set this up can be found here.

Best regards, Thomas

echoGee commented 7 months ago

Will try this. Is this needed even when using the serial communication instead of tcp ?

Hi @echoGee ,

did you activate internet forwarding? An explanation on how to set this up can be found here.

Best regards, Thomas

thomasemter commented 7 months ago

It is needed since serial does not support NTRIP. Serial supports RTCM directly instead.