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At least with the driver I previously used (this one), the GPS topics will not be published or even advertised when anything is wrong with the GPS signal or the device is just not configured to output GPS data. For example, you may want to try the the following things:

• You need to plug in the GPS receiver.
• You need to put the vehicle outside, such that the receiver can get a GPS fix.
• You need to configure the device to produce GPS output, either using the _Xsens MT SDK_, or using the xsens_driver mtnode.py:
  • https://www.xsens.com/mt-software-development-kit-sdk/ (you can also use this tool to inspect the current GPS data without writing a new configuration to the device I think)
  • http://wiki.ros.org/xsens_driver (don't forget to save the old config before you overwrite it, just in case you'd like to restore it)

At least with the driver I previously used (this one), the GPS topics will not be published or even advertised when anything is wrong with the GPS signal or the device is just not configured to output GPS data. For example, you may want to try the the following things:

• You need to plug in the GPS receiver.
• You need to put the vehicle outside, such that the receiver can get a GPS fix.
• You need to configure the device to produce GPS output, either using the _Xsens Xsens MT SDK_, SDK, or using the xsens_driver mtnode.py:
  • https://www.xsens.com/mt-software-development-kit-sdk/ (you can also use this tool to inspect the current GPS data without writing a new configuration to the device I think)
  • http://wiki.ros.org/xsens_driver (don't forget to save the old config before you overwrite it, just in case you'd like to restore it)

At least with the driver I previously used (this one), the GPS topics will not be published or even advertised when anything is wrong with the GPS signal or the device is just not configured to output GPS data. For example, you may want to try the the following things:

• You need to plug in the GPS receiver.
• You need to put the vehicle outside, such that the receiver can get a GPS fix.
• You need to configure the device to produce GPS output, either using the Xsens MT SDK, or using the xsens_driver mtnode.pymtdevice.py:
  • https://www.xsens.com/mt-software-development-kit-sdk/ (you can also use this tool to inspect the current GPS data without writing a new configuration to the device I think)
  • http://wiki.ros.org/xsens_driver (don't forget to save the old config before you overwrite it, just in case you'd like to restore it)

At least with the driver I previously used (this one), the GPS topics will not be published or even advertised when anything is wrong with the GPS signal or the device is just not configured to output GPS data. For example, you may want to try the the following things:

• You need to plug in the GPS receiver.
• You need to put the vehicle outside, device outside (good satellite visibility for several minutes), such that the receiver can get a GPS fix.
• You need to configure the device to produce GPS output, either using the Xsens MT SDK, or using the xsens_driver mtdevice.py:
  • https://www.xsens.com/mt-software-development-kit-sdk/ (you can also use this tool to inspect the current GPS data without writing a new configuration to the device I think)
  • http://wiki.ros.org/xsens_driver (don't forget to save the old config before you overwrite it, just in case you'd like to restore it)