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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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Parameter settings in the ROS driver are not reflected properly in the hardware #69

Closed rsasaki0109 closed 2 years ago

rsasaki0109 commented 2 years ago

@tibordome @thomasemter Hello. Thanks for your work ,

I use AsteRx-i3 S Pro+(firmware:version 1.3.2) and use the ros2 branch of this package.

In the process I encountered the following problem.

Even if I set theta_x in imu_orientation to 180, it is 0.0deg on WebUI(setting values within 90 degrees are reflected correctly). https://github.com/septentrio-gnss/septentrio_gnss_driver/blob/ros2/config/rover.yaml#L112

aster rx is not able to access the RTK correction service correctly even if I set it according to the following

https://github.com/septentrio-gnss/septentrio_gnss_driver/pull/16/commits/debf0e4b7766fa5ad5554d09ee442f27536aa7f4#diff-b06a267690b8225807484c743113fa3cf06dc111f3a59de9c57f3b9f32c6303d We confirmed that the ntrip configuration values were loaded internally in the hardware, but aster rx was not able to communicate with the correction information server.

So can you tell me how to set the settings correctly or how Aster settings are not done from the ROS driver?

thomasemter commented 2 years ago

Hi @rsasaki0109 ,

if you have set 'use_ros_axis_orientation' to true, the orientation is rotated by 180 ° around the x-axis as Septentrio follows the front-right-down convention, while ROS adopts front-left-up. When using the ROS axis convention, the driver converts between the two conventions and your observation should be correct. In case you want to purely use the convention of the receiver, just set 'use_ros_axis_orientation' to false.

Regarding the access to RTK corrections: If the values are passed correctly to the receiver, the driver seems to work correctly :-). Maybe your receiver does not have access to the internet? Is it also connected via ethernet to a network with a route to the internet?

rsasaki0109 commented 2 years ago

Sorry for the late reply. Thank you for your reply. It's not easy to check due to other tasks, but I will.

thomasemter commented 2 years ago

You are welcome. Just take your time :-)

rsasaki0109 commented 2 years ago

Thank you very much. I was able to check the operation. I used RxTools Data Link because of the limitations of the receiver not having access to the internet I will close this issue.

thomasemter commented 2 years ago

Great, thank you for your feedback.