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swri-robotics / gps_umd

BSD 3-Clause "New" or "Revised" License
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Lat/longitude values not changing #91

Open ashBabu opened 10 months ago

ashBabu commented 10 months ago

I am ROS Humble and have installed gps_umd using apt install. I ran the command

ros2 component standalone gpsd_client gpsd_client::GPSDClientComponent -p use_gps_time:=false -p check_fix_by_variance:=false -p frame_id:="gps" -p publish_rate:=5 -p host:="127.0.0.1" -p port:=2947 on terminal 1 and on another terminal I ran gpsmon. Please see the result in the attached video. The gpsd_client version shows no change in lat/long values whereas the other shows some changes in the 4th or 5th decimal point (as I was not moving much). I tried check_fix_by_variance:=true as well but the same. Is this expected? ros_vs_gpsmon.webm

akrv commented 2 months ago

same issue, i am running ros2-iron. built from src. I am testing on my table. after a few messages, the gps is not publishing anymore, the header timestamp doesnt change.

akrv commented 2 months ago

Quick update:

The lat long values dont change. I looked at the source code and also the performance of my GPSD process. with RTCM corrections, there seems to be issues in the socket and on the source code, there is not provision to attempt to reconnect. could this be the reason?