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superjax / inertial_sense_ros

DEPRECATED: Please see official ROS node on [inertialsense](https://github.com/inertialsense/inertial_sense_ros)
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ROS driver does not publish any messages on /gps and /gps/info topics in the compassing branch #10

Open arunanshu-kittyhawk opened 5 years ago

arunanshu-kittyhawk commented 5 years ago

The test config is using a dual GPS uINS with FW version 1.7.2 I see messages being published on all topics except the /gps and /gps/info This is also true on master branch. With an older uINS I can see /gps messages but nothing on /gps/info

Could this be an incompatibility with the latest 1.7.2 firmware?

andrewpriddis commented 5 years ago

The readme says: "By default, only the /ins topic is published to save processor time in serializing unecessary messages." You need to start the node with the parameters _stream_GPS:=true _stream_GPS_info:=true and then you can see the /gps topic and /gps/info

arunanshu-kittyhawk commented 5 years ago

Thanks @siddirp . I did have those two parameters set to true. I see the topic being advertised but there are no messages being published.

andrewpriddis commented 5 years ago

Let me look into it more.

arunanshu-kittyhawk commented 5 years ago

I tried some basic debugging. I could see that the callback for gps_pos and gps_vel are being entered very infrequently ( once in 40 seconds or so) so the time stamps don't match and we never land up in the publishGPS function.

andrewpriddis commented 5 years ago

I just saw the same thing, however the data was published. Do you have an antenna connected? If I have an antenna connected data is published every 40 seconds on both topics. If I disconnect the antenna then no data is published. I have seen a similar issue with INS data not being published on time unless you specifiy the _navigation_dt_ms. It doesn't seem to matter that value, it just needs to be set. I'm wondering if this is a similar issue. I'll keep working on it.

BTW, if you can submit issues on the official Inertial Sense ROS node, or email support directly we can track these issues better and support your effort.

arunanshu-kittyhawk commented 5 years ago

Thanks @siddirp . I will copy this issue over to the inertialsense repo. I've tried a few more things this afternoon like setting different values of startupGPSDtMs but cannot get it to work.

andrewpriddis commented 5 years ago

My suspicion is that we'll have to change make a new parameter that allows you to set the GPS sample rate and then perhaps it will update at the proper rate?

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On Jan 10, 2019, at 5:14 PM, arunanshu-kittyhawk notifications@github.com wrote:

Thanks @siddirp . I will copy this issue over to the inertialsense repo. I've tried a few more things this afternoon like setting different values of startupGPSDtMs but cannot get it to work.

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