GPS stops publishing if bestpos messages are too far behind GPGGA and GPRMC messages

swri-robotics / novatel_gps_driver

ROS driver for NovAtel GPS / GNSS receivers

BSD 3-Clause "New" or "Revised" License

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GPS stops publishing if bestpos messages are too far behind GPGGA and GPRMC messages #2

Open pjreed opened 7 years ago

pjreed commented 7 years ago

The novatel driver tries to sync messages of our 3 selected message types (GPGGA, GPRMC and BESTPOS), before outputting a current /localization/gps measurement. However, if the BESTPOS is 1 or more seconds older than the other two messages, no gps will be output because the buffer is only 1 second long.

senoa95 commented 7 years ago

I am having a similar issue with the publishing rate. I was able to write a simple python file to read the GPS so this is a bug in the code. I am using ROS Kinetic on Ubuntu 16.04.