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GPS readings getting swapped

asked 2011-10-13 14:43:46 -0600

PKG gravatar image

Two of my GPS readings get swapped as follows:

I have a robot (named raven) which runs a gps and uses the gpsd_client and utm_odometry to publish on a topic named raven_gps_odom. Similarly I have a laptop(named uav) which runs another gps and publishes on laptop_gps_odom. The laptop's ROS_MASTER is set to raven and the two run on the same network. The config files are here .

When I do a rostopic echo laptop_gps_odom and rostopic echo /raven_gps_odom several times consecutively I find that their gps readings get swapped every 10 seconds or so.

Why is this so?

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answered 2011-10-13 15:40:29 -0600

Eric Perko gravatar image

It doesn't look like you are remapping the output topics from the gpsd_client. Since they are using the same rosmaster, you are publishing from two different drivers on the same topic.

You should remap both of the outputs for each gpsd_client and the appropriate inputs to utm_odometry. Another option would be to run both sets in their own namespaces.

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Asked: 2011-10-13 14:43:46 -0600

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Last updated: Oct 13 '11