[BUG] /extsensormeas node is broken

Question

[BUG] /extsensormeas node is broken

robduer opened this issue 2 years ago · comments

Hardware:
I am using the Septentrio AsteRx-i3 D Pro + on Ubuntu 18.04 and ROS Melodic.

Bug
The /extsensormeas node sends the correct angular rate but sends the exact same data for its accelerations.
Velocity, std_dev and temperature data are way off the real values.
IN RXTools Message Inspector View the correct data on acceleration, angular rate and tempreratur are shown.

Example
header:
seq: 7638
stamp:
secs: 1650352094
nsecs: 7669758
frame_id: "ins"
block_header:
sync_1: 36
sync_2: 64
crc: 14449
id: 4050
length: 100
tow: 198512000
wnc: 2206
n: 3
sb_length: 28
source: 32
sensor_model: 10
type: 1
obs_info: 1
acceleration_X: -0.0325
acceleration_Y: 0.47875
acceleration_Z: -0.08875
angular_rate_X: -0.0325
angular_rate_Y: 0.47875
angular_rate_Z: -0.08875
velocity_X: 9.12120139543e-33
velocity_Y: -1.25499999523
velocity_Z: 9.12119919138e-33
std_dev_X: 1.73937499523
std_dev_Y: -3.21864213941e+26
std_dev_Z: -1.42749989033
sensor_temperature: 28832
zero_velocity_flag: -0.0325

header:
seq: 7639
stamp:
secs: 1650352094
nsecs: 507891427
frame_id: "ins"
block_header:
sync_1: 36
sync_2: 64
crc: 63172
id: 4050
length: 72
tow: 198512500
wnc: 2206
n: 2
sb_length: 28
source: 32
sensor_model: 10
type: 1
obs_info: 1
acceleration_X: 0.01125
acceleration_Y: 0.47125
acceleration_Z: -0.15625
angular_rate_X: 0.01125
angular_rate_Y: 0.47125
angular_rate_Z: -0.15625
velocity_X: 4.05647994111e+29
velocity_Y: 1.05499994755
velocity_Z: -71.6799468994
std_dev_X: 1.7356249094
std_dev_Y: nan
std_dev_Z: -1.53124988079
sensor_temperature: -10491
zero_velocity_flag: 0.01125

Thomas Emter · Answer 1 · Sat Apr 23 2022 05:16:29 GMT+0800 (China Standard Time)

Hi there , parsing of /extsensormeas and some other messages is indeed broken. This is fixed in the upcoming release which should be available quite soon. If you need /extsensormeas urgently you might want to try the /dev branch.

robduer · Answer 2 · Tue May 03 2022 14:33:41 GMT+0800 (China Standard Time)

Since updating to 1.1 I cant start the rosnode anymore.
trying to connect through tcp gives me:

/opt/ros/melodic/share/septentrio_gnss_driver$ roslaunch septentrio_gnss_driver rover.launch param_file_name:=rover
... logging to /home/anon/.ros/log/4ace220c-caaa-11ec-9c2c-902e16fedec2/roslaunch-Legion-15546.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Legion:43073/

SUMMARY

CLEAR PARAMETERS

/septentrio_gnss/

PARAMETERS

/rosdistro: melodic
/rosversion: 1.14.13
/septentrio_gnss/activate_debug_log: False
/septentrio_gnss/ant_aux1_serial_nr: Unknown
/septentrio_gnss/ant_aux1_type: Unknown
/septentrio_gnss/ant_serial_nr: Unknown
/septentrio_gnss/ant_type: Unknown
/septentrio_gnss/att_offset/heading: 0.0
/septentrio_gnss/att_offset/pitch: 0.0
/septentrio_gnss/aux1_frame_id: aux1
/septentrio_gnss/datum: ETRS89
/septentrio_gnss/device: tcp://192.168.3.1...
/septentrio_gnss/frame_id: gnss
/septentrio_gnss/get_spatial_config_from_tf: False
/septentrio_gnss/imu_frame_id: imu
/septentrio_gnss/ins_initial_heading: auto
/septentrio_gnss/ins_spatial_config/ant_lever_arm/x: 0.0
/septentrio_gnss/ins_spatial_config/ant_lever_arm/y: 0.0
/septentrio_gnss/ins_spatial_config/ant_lever_arm/z: 0.0
/septentrio_gnss/ins_spatial_config/imu_orientation/theta_x: 0.0
/septentrio_gnss/ins_spatial_config/imu_orientation/theta_y: 0.0
/septentrio_gnss/ins_spatial_config/imu_orientation/theta_z: 0.0
/septentrio_gnss/ins_spatial_config/poi_lever_arm/delta_x: 0.0
/septentrio_gnss/ins_spatial_config/poi_lever_arm/delta_y: 0.0
/septentrio_gnss/ins_spatial_config/poi_lever_arm/delta_z: 0.0
/septentrio_gnss/ins_spatial_config/vel_sensor_lever_arm/vsm_x: 0.0
/septentrio_gnss/ins_spatial_config/vel_sensor_lever_arm/vsm_y: 0.0
/septentrio_gnss/ins_spatial_config/vel_sensor_lever_arm/vsm_z: 0.0
/septentrio_gnss/ins_std_dev_mask/att_std_dev: 5.0
/septentrio_gnss/ins_std_dev_mask/pos_std_dev: 10.0
/septentrio_gnss/ins_use_poi: False
/septentrio_gnss/leap_seconds: 18
/septentrio_gnss/lock_utm_zone: True
/septentrio_gnss/multi_antenna: False
/septentrio_gnss/ntrip_settings/caster: 0
/septentrio_gnss/ntrip_settings/caster_port: 0
/septentrio_gnss/ntrip_settings/mode: False
/septentrio_gnss/ntrip_settings/mountpoint: 0
/septentrio_gnss/ntrip_settings/ntrip_version: v2
/septentrio_gnss/ntrip_settings/password: 0
/septentrio_gnss/ntrip_settings/rtcm_version: RTCMv2
/septentrio_gnss/ntrip_settings/rx_has_internet: False
/septentrio_gnss/ntrip_settings/rx_input_corrections_serial: USB2
/septentrio_gnss/ntrip_settings/rx_input_corrections_tcp: 6666
/septentrio_gnss/ntrip_settings/send_gga: auto
/septentrio_gnss/ntrip_settings/username: 0
/septentrio_gnss/poi_frame_id: base_link
/septentrio_gnss/poi_to_arp/delta_e: 0.0
/septentrio_gnss/poi_to_arp/delta_n: 0.0
/septentrio_gnss/poi_to_arp/delta_u: 0.0
/septentrio_gnss/polling_period/pvt: 500
/septentrio_gnss/polling_period/rest: 500
/septentrio_gnss/publish/attcoveuler: True
/septentrio_gnss/publish/atteuler: True
/septentrio_gnss/publish/diagnostics: False
/septentrio_gnss/publish/exteventinsnavcart: False
/septentrio_gnss/publish/exteventinsnavgeod: False
/septentrio_gnss/publish/extsensormeas: False
/septentrio_gnss/publish/gpgga: False
/septentrio_gnss/publish/gpgsa: False
/septentrio_gnss/publish/gpgsv: False
/septentrio_gnss/publish/gprmc: False
/septentrio_gnss/publish/gpsfix: True
/septentrio_gnss/publish/gpst: False
/septentrio_gnss/publish/imu: False
/septentrio_gnss/publish/imusetup: False
/septentrio_gnss/publish/insnavcart: False
/septentrio_gnss/publish/insnavgeod: False
/septentrio_gnss/publish/localization: False
/septentrio_gnss/publish/measepoch: False
/septentrio_gnss/publish/navsatfix: False
/septentrio_gnss/publish/poscovcartesian: False
/septentrio_gnss/publish/poscovgeodetic: True
/septentrio_gnss/publish/pose: False
/septentrio_gnss/publish/pvtcartesian: False
/septentrio_gnss/publish/pvtgeodetic: True
/septentrio_gnss/publish/tf: False
/septentrio_gnss/publish/velcovgeodetic: True
/septentrio_gnss/publish/velsensorsetup: False
/septentrio_gnss/receiver_type: gnss
/septentrio_gnss/serial/baudrate: 921600
/septentrio_gnss/serial/hw_flow_control: False
/septentrio_gnss/serial/rx_serial_port: USB1
/septentrio_gnss/use_gnss_time: False
/septentrio_gnss/use_ros_axis_orientation: True
/septentrio_gnss/vehicle_frame_id: base_link
/septentrio_gnss/vsm_frame_id: vsm

NODES
/
septentrio_gnss (septentrio_gnss_driver/septentrio_gnss_driver_node)
tf_aux1 (tf2_ros/static_transform_publisher)
tf_gnss (tf2_ros/static_transform_publisher)
tf_imu (tf2_ros/static_transform_publisher)
tf_vsm (tf2_ros/static_transform_publisher)

auto-starting new master
process[master]: started with pid [15556]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4ace220c-caaa-11ec-9c2c-902e16fedec2
process[rosout-1]: started with pid [15567]
started core service [/rosout]
process[tf_imu-2]: started with pid [15575]
process[tf_gnss-3]: started with pid [15576]
process[tf_vsm-4]: started with pid [15578]
process[tf_aux1-5]: started with pid [15587]
process[septentrio_gnss-6]: started with pid [15591]
[ WARN] [1651559329.715451819]: /septentrio_gnss: AttEuler needs multi-antenna receiver. Multi-antenna setting automatically activated. Deactivate publishing of AttEuler if multi-antenna operation is not available.
[ INFO] [1651559329.717323967]: /septentrio_gnss: Connecting to tcp://192.168.3.1:28784...
[ INFO] [1651559329.718325481]: /septentrio_gnss: Connected to 192.168.3.1:28784.
[ INFO] [1651559329.731380862]: /septentrio_gnss: The connection descriptor for the TCP connection is IP10
[ERROR] [1651559330.087512454]: /septentrio_gnss: Invalid command just sent to the Rx! The Rx's response contains 66 bytes and reads:
$R? sao, Main, 0.0, 0.0, 0.0, "Unknown", Unknown: Invalid command!
[ERROR] [1651559330.092309318]: /septentrio_gnss: Invalid command just sent to the Rx! The Rx's response contains 66 bytes and reads:
$R? sao, Aux1, 0.0, 0.0, 0.0, "Unknown", Unknown: Invalid command!

serial leaves me with:

/opt/ros/melodic/share/septentrio_gnss_driver$ roslaunch septentrio_gnss_driver rover.launch param_file_name:=rover
... logging to /home/anon/.ros/log/a5bd08aa-caa9-11ec-9c2c-902e16fedec2/roslaunch-Legion-15271.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt

started roslaunch server http://Legion:33097/

SUMMARY

CLEAR PARAMETERS

/septentrio_gnss/

PARAMETERS

/rosdistro: melodic
/rosversion: 1.14.13
/septentrio_gnss/activate_debug_log: False
/septentrio_gnss/ant_aux1_serial_nr: Unknown
/septentrio_gnss/ant_aux1_type: Unknown
/septentrio_gnss/ant_serial_nr: Unknown
/septentrio_gnss/ant_type: Unknown
/septentrio_gnss/att_offset/heading: 0.0
/septentrio_gnss/att_offset/pitch: 0.0
/septentrio_gnss/aux1_frame_id: aux1
/septentrio_gnss/datum: ETRS89
/septentrio_gnss/device: serial:/dev/seria...
/septentrio_gnss/frame_id: gnss
/septentrio_gnss/get_spatial_config_from_tf: False
/septentrio_gnss/imu_frame_id: imu
/septentrio_gnss/ins_initial_heading: auto
/septentrio_gnss/ins_spatial_config/ant_lever_arm/x: 0.0
/septentrio_gnss/ins_spatial_config/ant_lever_arm/y: 0.0
/septentrio_gnss/ins_spatial_config/ant_lever_arm/z: 0.0
/septentrio_gnss/ins_spatial_config/imu_orientation/theta_x: 0.0
/septentrio_gnss/ins_spatial_config/imu_orientation/theta_y: 0.0
/septentrio_gnss/ins_spatial_config/imu_orientation/theta_z: 0.0
/septentrio_gnss/ins_spatial_config/poi_lever_arm/delta_x: 0.0
/septentrio_gnss/ins_spatial_config/poi_lever_arm/delta_y: 0.0
/septentrio_gnss/ins_spatial_config/poi_lever_arm/delta_z: 0.0
/septentrio_gnss/ins_spatial_config/vel_sensor_lever_arm/vsm_x: 0.0
/septentrio_gnss/ins_spatial_config/vel_sensor_lever_arm/vsm_y: 0.0
/septentrio_gnss/ins_spatial_config/vel_sensor_lever_arm/vsm_z: 0.0
/septentrio_gnss/ins_std_dev_mask/att_std_dev: 5.0
/septentrio_gnss/ins_std_dev_mask/pos_std_dev: 10.0
/septentrio_gnss/ins_use_poi: False
/septentrio_gnss/leap_seconds: 18
/septentrio_gnss/lock_utm_zone: True
/septentrio_gnss/multi_antenna: False
/septentrio_gnss/ntrip_settings/caster: 0
/septentrio_gnss/ntrip_settings/caster_port: 0
/septentrio_gnss/ntrip_settings/mode: False
/septentrio_gnss/ntrip_settings/mountpoint: 0
/septentrio_gnss/ntrip_settings/ntrip_version: v2
/septentrio_gnss/ntrip_settings/password: 0
/septentrio_gnss/ntrip_settings/rtcm_version: RTCMv2
/septentrio_gnss/ntrip_settings/rx_has_internet: False
/septentrio_gnss/ntrip_settings/rx_input_corrections_serial: USB2
/septentrio_gnss/ntrip_settings/rx_input_corrections_tcp: 6666
/septentrio_gnss/ntrip_settings/send_gga: auto
/septentrio_gnss/ntrip_settings/username: 0
/septentrio_gnss/poi_frame_id: base_link
/septentrio_gnss/poi_to_arp/delta_e: 0.0
/septentrio_gnss/poi_to_arp/delta_n: 0.0
/septentrio_gnss/poi_to_arp/delta_u: 0.0
/septentrio_gnss/polling_period/pvt: 500
/septentrio_gnss/polling_period/rest: 500
/septentrio_gnss/publish/attcoveuler: True
/septentrio_gnss/publish/atteuler: True
/septentrio_gnss/publish/diagnostics: False
/septentrio_gnss/publish/exteventinsnavcart: False
/septentrio_gnss/publish/exteventinsnavgeod: False
/septentrio_gnss/publish/extsensormeas: False
/septentrio_gnss/publish/gpgga: False
/septentrio_gnss/publish/gpgsa: False
/septentrio_gnss/publish/gpgsv: False
/septentrio_gnss/publish/gprmc: False
/septentrio_gnss/publish/gpsfix: True
/septentrio_gnss/publish/gpst: False
/septentrio_gnss/publish/imu: False
/septentrio_gnss/publish/imusetup: False
/septentrio_gnss/publish/insnavcart: False
/septentrio_gnss/publish/insnavgeod: False
/septentrio_gnss/publish/localization: False
/septentrio_gnss/publish/measepoch: False
/septentrio_gnss/publish/navsatfix: False
/septentrio_gnss/publish/poscovcartesian: False
/septentrio_gnss/publish/poscovgeodetic: True
/septentrio_gnss/publish/pose: False
/septentrio_gnss/publish/pvtcartesian: False
/septentrio_gnss/publish/pvtgeodetic: True
/septentrio_gnss/publish/tf: False
/septentrio_gnss/publish/velcovgeodetic: True
/septentrio_gnss/publish/velsensorsetup: False
/septentrio_gnss/receiver_type: gnss
/septentrio_gnss/serial/baudrate: 921600
/septentrio_gnss/serial/hw_flow_control: False
/septentrio_gnss/serial/rx_serial_port: USB1
/septentrio_gnss/use_gnss_time: False
/septentrio_gnss/use_ros_axis_orientation: True
/septentrio_gnss/vehicle_frame_id: base_link
/septentrio_gnss/vsm_frame_id: vsm

NODES
/
septentrio_gnss (septentrio_gnss_driver/septentrio_gnss_driver_node)
tf_aux1 (tf2_ros/static_transform_publisher)
tf_gnss (tf2_ros/static_transform_publisher)
tf_imu (tf2_ros/static_transform_publisher)
tf_vsm (tf2_ros/static_transform_publisher)

auto-starting new master
process[master]: started with pid [15281]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a5bd08aa-caa9-11ec-9c2c-902e16fedec2
process[rosout-1]: started with pid [15292]
started core service [/rosout]
process[tf_imu-2]: started with pid [15300]
process[tf_gnss-3]: started with pid [15301]
process[tf_vsm-4]: started with pid [15306]
process[tf_aux1-5]: started with pid [15312]
process[septentrio_gnss-6]: started with pid [15318]
[ WARN] [1651559052.836614601]: /septentrio_gnss: AttEuler needs multi-antenna receiver. Multi-antenna setting automatically activated. Deactivate publishing of AttEuler if multi-antenna operation is not available.
[ INFO] [1651559052.837826470]: /septentrio_gnss: Connecting serially to device/dev/serial/by-id/usb-Septentrio_Septentrio_USB_Device_3239030-if02, targeted baudrate: 921600
[ INFO] [1651559052.838111279]: /septentrio_gnss: Opened serial port /dev/serial/by-id/usb-Septentrio_Septentrio_USB_Device_3239030-if02
[septentrio_gnss-6] process has died [pid 15318, exit code -11, cmd /opt/ros/melodic/lib/septentrio_gnss_driver/septentrio_gnss_driver_node __name:=septentrio_gnss __log:=/home/anon/.ros/log/a5bd08aa-caa9-11ec-9c2c-902e16fedec2/septentrio_gnss-6.log].
log file: /home/anon/.ros/log/a5bd08aa-caa9-11ec-9c2c-902e16fedec2/septentrio_gnss-6*.log

Thomas Emter · Answer 3 · Tue May 03 2022 15:50:09 GMT+0800 (China Standard Time)

Hi robduer,

the "Invalid command!" just means that you did not specify your antennas, which means the receiver will not be able to perform in the best way possible but should work nonetheless. Does rostopic echo /poscovgeodetic produce any output with TCP? In any case, thank you for the report, a more meaningful message should be output in this case.

Regarding the serial connection it is very hard to give a diagnosis. Can you please start it with activate_debug_log: true? Also, I must admit that I personally did not test the serial connection thoroughly because TCP over USB gives much more bandwidth.

Cheers,
Thomas

robduer · Answer 4 · Tue May 03 2022 16:38:37 GMT+0800 (China Standard Time)

Hi Thomas

the tcp connection seems to work now.
/extsensormeas is sending the correct accelerations but the sensor_temperature is sending a usefull temperature only once every 10 messages at a messagerate of 10Hz.

It is sending :
sensor_temperature: 42.4000015259
and then 9 times
sensor_temperature: -32768.0

By the way is there a way to change the messagerate other than having to open the RXTool?

Cheers,
robduer

Thomas Emter · Answer 5 · Tue May 03 2022 16:39:54 GMT+0800 (China Standard Time)

Hi robduer,

thank you for your feedback. I am happy it works now.

The rates have to be set in the .yaml. by polling_period/pvt and polling_period/rest in ms. Setting it to 0 means "on change", i.e., as fast as possible.

Sensor temperature is not sent in every cycle of the /extsensormsg block and set to its do-not-use-value if it is not present. SBF and ROS messages are somewhat different in this regard. SBF has optional fields while ROS messages are always complete.

Cheers,
Thomas

Thomas Emter · Answer 6 · Tue May 03 2022 21:28:26 GMT+0800 (China Standard Time)

Hi robduer,

thanks to your report I could find and fix a bug in the setup of the serial connection. If you like, you may test it with PR #57.

Cheers,
Thomas