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Invalid NMEA sentences and RTCM write error #332
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Hi @taskbjorn, I am taking a look at this now, but am currently unable to reproduce this. I will note that these logs
Are not very well formed, but are saying that we received an Invalid NMEA sentence, and then, we received an RTCM message from the NTRIP caster that has an invalid checksum. This makes me suspicious that this problem could be with the NTRIP caster. Can you provide any information about the caster you are using? Obviously not the username and password, but other information would be helpful. If you are uncomfortable sharing that information on Github, please feel free to reach out to me via email |
Thank you for looking into this @robbiefish - I have sent you an email with more details on my NTRIP caster, but feel free to come back here if troubleshooting moves away from the NTRIP caster itself and if the conversation can be helpful to other users. |
Describe the bug
On my setup, NMEA sentences published by the GQ7 are occasionally empty or do not pass the checksum. This usually happens after some time (ranging from minutes to hours, but happens more often with high NMEA data rates), the NTRIP client log shows either of these two blocks of warnings, relating to:
Some time after the first warnings appear, I can read a truncated error message from the
microstrain_inertial_driver_node
regarding a SIGHUP signal being received by the MIP SDK, and immediately after the following error message is flooded to the console:From there onwards, the node is unable to process RTCM data and does not recover.
To Reproduce
Steps to reproduce the behavior:
microstrain_inertial_driver_node
lifecycle node from themicrostrain_inertial_driver
package.ntrip_ros.py
node from thentrip_client
package.ntrip_ros
log for NMEA warnings.microstrain_inertial_driver_node
for RTCM write errors.Expected behavior
I did not expect to read empty or corrupted NMEA sentences from the GQ7 AUX port. I also did not expect the ROS node to stop receiving RTCM data altogether with no attempt to recover.
Environment:
Modifications
No modifications to source code, using the latest package
ros-humble-microstrain-inertial-driver
from the ROS Humble Hawksbill distribution.Launch Parameters
See attached params.yml file.
Additional context
I am connecting to the GQ7 via two USB to DB9 cables, going from two USB 2.0 ports of my Linux machine running both ROS nodes to the MAIN and AUX ports of my GQ7. When
ntrip_interface_enable
andnmea_message_config
are disabled , the sensor works perfectly.I have tried the following:
gnss1_nmea_gga_data_rate
) reduced the rate at which warnings appear, but did not eliminate the issue.The text was updated successfully, but these errors were encountered: