No Navsatfix topic showing?

[DanRolst]

Hi,

I have a Piksi Multi running on firmware version 3.0.14. I am trying to use this driver and have installed it and am running the rover launch file. I can see the lat and long data being published in the sbp topics and i can see its reading all the data correctly. However, there is no rostopic being published for navsatfix ?

I am running it on Noetic. Any idea why this topic is not publishing, when i can see the driver is reading the data?

[andreucm]

Hi, I have exactly the same issue. Let me provide additional info about my set up (Ubuntu 20.04, Noetic, firmware 3.0.11)

1. From SwiftNav console, we set the receiver in simulation mode, turning with a radius of 30m around a given base station placed at ECEF coordinates x,y,z.

2. In the file piksi_multi_cpp/cfg/enu_origin.yaml we set the ECEF x,y,z coordinates of the base station as the origin of the ENU frame.

3. In a terminal we do: roslaunch piksi_multi_cpp rover.launch device_ids:="tcp://192.168.0.222:55555"

4. In another terminal , we do: rostopic list , with the following result:

  /rosout
  /rosout_agg
  /rover/piksi/position_receiver_0/ros/baseline_ned
  /rover/piksi/position_receiver_0/ros/imu
  /rover/piksi/position_receiver_0/ros/receiver_state
  /rover/piksi/position_receiver_0/ros/time_ref
  /rover/piksi/position_receiver_0/ros/vel_ned
  /rover/piksi/position_receiver_0/sbp/age_corrections
  /rover/piksi/position_receiver_0/sbp/base_pos_ecef
  /rover/piksi/position_receiver_0/sbp/baseline_ned
  /rover/piksi/position_receiver_0/sbp/device_monitor
  /rover/piksi/position_receiver_0/sbp/dgnss_status
  /rover/piksi/position_receiver_0/sbp/dops
  /rover/piksi/position_receiver_0/sbp/glo_biases
  /rover/piksi/position_receiver_0/sbp/gps_time
  /rover/piksi/position_receiver_0/sbp/heartbeat
  /rover/piksi/position_receiver_0/sbp/imu_aux
  /rover/piksi/position_receiver_0/sbp/imu_raw
  /rover/piksi/position_receiver_0/sbp/log
  /rover/piksi/position_receiver_0/sbp/measurement_state
  /rover/piksi/position_receiver_0/sbp/network_bandwidth_usage
  /rover/piksi/position_receiver_0/sbp/obs
  /rover/piksi/position_receiver_0/sbp/pos_llh
  /rover/piksi/position_receiver_0/sbp/sv_az_el
  /rover/piksi/position_receiver_0/sbp/thread_state
  /rover/piksi/position_receiver_0/sbp/utc_time
  /rover/piksi/position_receiver_0/sbp/vel_ned

The issue is that we do not see any topic publishing the standard sensor_msgs/NavSatFix message.

Anyone here knows if we are missing to enable some param at ROS level, or at device level ? Or simply this message is not published and we have to get the LLA position from the custom message at topic /sbp/pos_llh ?

Thanks!

Andreu

[andreucm]

Downgrading firmware to 2.4.20, as stated in the Readme, but having the same topic list, so NavSatFix does not appear.

[andreucm]

FIXED: I forgot to call first the config launch, as indicated here, point 2.

@DanRolst , please consider closing the issue. THanks

Sorry about the mess!