thomasemter
commented
1 month ago Mode 6 in pvtgeodetic means SBAS, which is not RTK. This means your RTK corrections do not work as you already suspect.
Your data might be incorrect: when connection to eu.skylark.swiftnav.com I can see no mountpoint CRS.
For debugging, you may enter your data via the web GUI and see if it is correct.
I am currently trying to setup RTK with the rover_node.launch.py file. I have changed the rover_node.yaml to look like this:
rtk_settings: ntrip_1: id: "NTR1" caster: "eu.skylark.swiftnav.com" caster_port: 2101 username: "SECRET_USERNAME" password: "SECRET_PASSWORD" mountpoint: "CRS" version: "v2" tls: false fingerprint: "" rtk_standard: "auto" send_gga: "auto" keep_open: true
I saw in this thread: https://github.com/septentrio-gnss/septentrio_gnss_driver/issues/113, that i can check the mode in /pvtgeodetic, which gives me a 6. I am unsure if this means the RTK is correctly enabled.
When i take it outside i am getting a fix that is at my location, but it is quite jumpy leading me to believe that the RTK isn't being used correctly. Also i get no difference in either logs or the /pvtgeodetic mode when i purposely put my username or password wrong.
These are the logs i get when i run the node:
septentrio-driver | [INFO] [launch]: All log files can be found below /root/.ros/log/2024-08-08-13-21-08-329850-rock-4c-plus-27348 septentrio-driver | [INFO] [launch]: Default logging verbosity is set to INFO septentrio-driver | [INFO] [septentrio_gnss_driver_node-1]: process started with pid [27392] septentrio-driver | [INFO] [static_transform_publisher-2]: process started with pid [27394] septentrio-driver | [INFO] [static_transform_publisher-3]: process started with pid [27396] septentrio-driver | [INFO] [static_transform_publisher-4]: process started with pid [27398] septentrio-driver | [INFO] [static_transform_publisher-5]: process started with pid [27401] septentrio-driver | [static_transform_publisher-2] 1723123268.903047134: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments septentrio-driver | [static_transform_publisher-5] 1723123268.999132348: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments septentrio-driver | [static_transform_publisher-2] 1723123269.074845289: [static_transform_publisher_tkHrwZdWzvDWTVYx] [INFO] Spinning until stopped - publishing transform septentrio-driver | [static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000') septentrio-driver | [static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') septentrio-driver | [static_transform_publisher-2] from 'base_link' to 'imu' septentrio-driver | [static_transform_publisher-3] 1723123269.086907128: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments septentrio-driver | [static_transform_publisher-5] 1723123269.125299388: [static_transform_publisher_MqCNmNusSl3WFeY9] [INFO] Spinning until stopped - publishing transform septentrio-driver | [static_transform_publisher-5] translation: ('0.000000', '0.000000', '0.000000') septentrio-driver | [static_transform_publisher-5] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') septentrio-driver | [static_transform_publisher-5] from 'imu' to 'aux1' septentrio-driver | [static_transform_publisher-4] 1723123269.128599337: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments septentrio-driver | [static_transform_publisher-3] 1723123269.164739896: [static_transform_publisher_4YlDNmmHIB7F3qaw] [INFO] Spinning until stopped - publishing transform septentrio-driver | [static_transform_publisher-3] translation: ('0.000000', '0.000000', '0.000000') septentrio-driver | [static_transform_publisher-3] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') septentrio-driver | [static_transform_publisher-3] from 'imu' to 'gnss' septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.200005791: [septentrio_gnss_driver] [INFO] Connecting to tcp://192.168.3.1:28784... septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.202121285: [septentrio_gnss_driver] [INFO] Connected to 192.168.3.1:28784. septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.221647101: [septentrio_gnss_driver] [INFO] The connection descriptor is IP10 septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.221851559: [septentrio_gnss_driver] [INFO] Setting up Rx. septentrio-driver | [static_transform_publisher-4] 1723123269.245323948: [static_transform_publisher_kRdgEX7ZXWaM8xZQ] [INFO] Spinning until stopped - publishing transform septentrio-driver | [static_transform_publisher-4] translation: ('0.000000', '0.000000', '0.000000') septentrio-driver | [static_transform_publisher-4] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') septentrio-driver | [static_transform_publisher-4] from 'imu' to 'vsm' septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.550120539: [septentrio_gnss_driver] [ERROR] Invalid command just sent to the Rx! The Rx's response contains 62 bytes and reads: septentrio-driver | [septentrio_gnss_driver_node-1] $R? setAntennaOffset: Tabular argument 'Antenna' is invalid! septentrio-driver | [septentrio_gnss_driver_node-1] septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.739602975: [septentrio_gnss_driver] [WARN] Multi antenna requested but Rx does not support it. septentrio-driver | [septentrio_gnss_driver_node-1] 1723123270.686877777: [septentrio_gnss_driver] [INFO] Setup complete.