Driver doesn't publish data to topics
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Janindu Arukgoda
Feb 6, 2017, 4:03:16 PM2/6/17
to swiftnav-discuss
Hi,
I have Ubuntu 16.04 running with ROS Kinetic. I installed swiftnav_piksi and launched it. The output I see is as follows.
PARAMETERS
* /diagnostic_aggregator/analyzers/GPS/contains: ['piksi_']
* /diagnostic_aggregator/analyzers/GPS/path: GPS
* /diagnostic_aggregator/analyzers/GPS/timeout: 5.0
* /diagnostic_aggregator/analyzers/GPS/type: diagnostic_aggreg...
* /diagnostic_aggregator/pub_rate: 1.0
* /piksi_node/port: /dev/ttyUSB0
* /rosdistro: kinetic
* /rosversion: 1.12.6
NODES
/
diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
piksi_node (swiftnav_piksi/piksi_node)
ROS_MASTER_URI=http://janindupc:11311
core service [/rosout] found
running rosparam delete /diagnostic_aggregator
process[piksi_node-1]: started with pid [24921]
process[diagnostic_aggregator-2]: started with pid [24922]
[ INFO] [1486413940.260810828]: Piksi opened successfully on /dev/ttyUSB0
But I do not see any data published to the /gps/fix , /gps/rtkfix or /gps/time topics.
/diagnostics topic publishes this
header:
seq: 232
stamp:
secs: 1486414018
nsecs: 846625905
frame_id: ''
status:
-
level: 2
name: piksi_time_diag: Frequency Status
message: No events recorded.
hardware_id: piksi heartbeat
values:
-
key: Events in window
value: 0
-
key: Events since startup
value: 0
-
key: Duration of window (s)
value: 51.059518
-
key: Actual frequency (Hz)
value: 0.000000
-
key: Minimum acceptable frequency (Hz)
value: 0.450000
-
key: Maximum acceptable frequency (Hz)
value: 55.000000
---
/diagnostic_agg publishes this:
header:
seq: 116
stamp:
secs: 1486414056
nsecs: 118961537
frame_id: ''
status:
-
level: 2
name: /GPS
message: Error
hardware_id: ''
values:
-
key: piksi_llh_diag: Frequency Status
value: No events recorded.
-
key: piksi_rtk_diag: Frequency Status
value: No events recorded.
-
key: piksi_rtk_diag: Piksi Status
value: RTK Satellite fix invalid: too few satellites in view
-
key: piksi_time_diag: Frequency Status
value: No events recorded.
-
level: 2
name: /GPS/piksi_llh_diag: Frequency Status
message: No events recorded.
hardware_id: piksi lat/lon
values:
-
key: Events in window
value: 0
-
key: Events since startup
value: 0
-
key: Duration of window (s)
value: 50.999795
-
key: Actual frequency (Hz)
value: 0.000000
-
key: Minimum acceptable frequency (Hz)
value: 0.450000
-
key: Maximum acceptable frequency (Hz)
value: 55.000000
-
level: 2
name: /GPS/piksi_rtk_diag: Frequency Status
message: No events recorded.
hardware_id: piksi rtk
values:
-
key: Events in window
value: 0
-
key: Events since startup
value: 0
-
key: Duration of window (s)
value: 50.999815
-
key: Actual frequency (Hz)
value: 0.000000
-
key: Minimum acceptable frequency (Hz)
value: 0.450000
-
key: Maximum acceptable frequency (Hz)
value: 55.000000
-
level: 1
name: /GPS/piksi_rtk_diag: Piksi Status
message: RTK Satellite fix invalid: too few satellites in view
hardware_id: piksi rtk
values:
-
key: io_failure_count
value: 0
-
key: open_failure_count
value: 0
-
key: Heartbeat status (0 = good)
value: 0
-
key: Number of satellites used in GPS RTK solution
value: 0
-
key: GPS RTK solution status (1 = good)
value: 0
-
key: GPS RTK meters north
value: 0
-
key: GPS RTK meters east
value: 0
-
key: GPS RTK height difference (m)
value: 0
-
key: GPS RTK horizontal accuracy (m)
value: 0.04
-
key: GPS RTK velocity north
value: 4.94066e-324
-
key: GPS RTK velocity east
value: 6.95306e-310
-
key: GPS RTK velocity up
value: 2.09256e-317
-
key: Number of satellites used for lat/lon
value: 0
-
key: GPS lat/lon solution status
value: 0
-
key: GPS latitude
value: 0
-
key: GPS longitude
value: 0
-
key: GPS altitude
value: 0
-
key: GPS lat/lon horizontal accuracy (m)
value: 0
-
level: 2
name: /GPS/piksi_time_diag: Frequency Status
message: No events recorded.
hardware_id: piksi heartbeat
values:
-
key: Events in window
value: 0
-
key: Events since startup
value: 0
-
key: Duration of window (s)
value: 50.999083
-
key: Actual frequency (Hz)
value: 0.000000
-
key: Minimum acceptable frequency (Hz)
value: 0.450000
-
key: Maximum acceptable frequency (Hz)
value: 55.000000
---
/diagnostics_toplevel_states publishes
level: 2
name: toplevel_state
message: ''
hardware_id: ''
values: []
---
I understand that if the GPS can't see at least 5 satellites then it can't give an RTK fix. Still, shouldn't it be publishing something to those topics?
Regards,
Janindu
Paul Bouchier
Feb 16, 2017, 10:33:52 PM2/16/17
to swiftnav-discuss
Hi Janindu. Thanks for the data in your report. Several other folks have reported this all of a sudden. I am tracking it on the swiftnav_piksi issue tracker here:
https://github.com/PaulBouchier/swiftnav_piksi/issues/7
Feel free to monitor/post there. I don't have a solution yet, and I bricked my piksi's (no help on the previous post for how to unbrick them yet), so struggling to get to the bottom of it. But the problem appears to be real.
Paul
https://github.com/PaulBouchier/swiftnav_piksi/issues/7
Feel free to monitor/post there. I don't have a solution yet, and I bricked my piksi's (no help on the previous post for how to unbrick them yet), so struggling to get to the bottom of it. But the problem appears to be real.
Paul
Paul Bouchier
Feb 22, 2017, 6:33:30 AM2/22/17
to swiftnav-discuss
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