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nmea_topic_driver is not publishing anything

asked 2018-01-23 15:05:09 -0600

taihu gravatar image

updated 2018-01-26 13:23:08 -0600

Hi, I created a rosbag that contains NMEA messages (nmea_msgs/Sentence), and I would like to generate sensor_msgs/NavSatFix messages.

I am working on simulating time, so I run:

rosparam set use_sim_time true

Then, I play the rosbag thats contains the NMEA messages

rosbag play --clock nmea_gps.bag

Then, I start the nmea_topic_driver to generate publish sensor_msgs/NavSatFix on /fix topic:

rosrun nmea_navsat_driver nmea_topic_driver

Finally, when I check with rostopic if there are message on /fix topic

rostopic echo /fix

WARNING: no messages received and simulated time is active.
Is /clock being published?

Any, idea of what is going on?

I check if nmea_topic_driver was subscribed to the NMEA messages properly, and it looks fine:

rostopic info /nmea_sentence 
Type: nmea_msgs/Sentence

Publishers: 
 * /play_1516740862743383627 (http://MS-7A15:46035/)

Subscribers: 
 * /nmea_topic_driver (http://MS-7A15:46775/)

I also checked if the NMEA messages were right, and they look fine too:

rostopic echo /nmea_sentence 

header: 
  seq: 0
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GPRMC,152545.80,A,3301.9913392,S,06053.0775644,W,0.12,0.00,261217,0.0,E,D*3F\r\n"
---
header: 
  seq: 1
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GPGGA,152545.80,3301.9913392,S,06053.0775644,W,5,09,1.0,52.356,M,17.442,M,0.2,*72\r\
  \n"
---
header: 
  seq: 2
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GPGSA,A,3,02,12,24,25,29,,,,,,,,12.0,1.7,11.8,1*29\r\n"
---
header: 
  seq: 3
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GLGSA,A,3,75,76,86,87,,,,,,,,,43.1,15.6,40.1,2*03\r\n"
---
header: 
  seq: 4
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GPGSV,2,1,05,02,52,107,35,12,61,145,38,24,49,007,37,25,48,217,36,1*6A\r\n"
---
header: 
  seq: 5
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GPGSV,2,2,05,29,47,283,41,,,,,,,,,,,,,1*55\r\n"
---
header: 
  seq: 6
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GLGSV,1,1,04,75,42,053,37,76,75,160,36,86,72,178,39,87,41,315,35,1*7F\r\n"
---
header: 
  seq: 7
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GPGST,152545.80,0.090,,,,0.081,0.061,0.194*78\r\n"
---
header: 
  seq: 8
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GPVTG,0.00,T,0.00,M,0.12,N,0.06,K,A*26\r\n"
---

UPDATED: 01/24/2018

The output of rosnode info /nmea_topic_driver is:

rosnode info /nmea_topic_driver

Node [/nmea_topic_driver]
Publications: 
 * /fix [sensor_msgs/NavSatFix]
 * /rosout [rosgraph_msgs/Log]
 * /time_reference [sensor_msgs/TimeReference]
 * /vel [geometry_msgs/TwistStamped]

Subscriptions: 
 * /clock [rosgraph_msgs/Clock]
 * /nmea_sentence [nmea_msgs/Sentence]

Services: 
 * /nmea_topic_driver/get_loggers
 * /nmea_topic_driver/set_logger_level


contacting node http://MS-7A15:34339/ ...
Pid: 28973
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound
    * transport: TCPROS
 * topic: /nmea_sentence
    * to: /play_1516817666576416404 (http://MS-7A15:38155/)
    * direction: inbound
    * transport: TCPROS
 * topic: /clock
    * to: /play_1516817666576416404 (http://MS-7A15:38155/)
    * direction: inbound
    * transport: TCPROS

Thanks in advance

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Comments

You've done a good job of debugging things so far, could you also add the output of rosnode info /nmea_topic_driver so I can compare it with what I'm getting?

M@t gravatar imageM@t ( 2018-01-23 18:39:00 -0600 )edit

did you make DEB install? if so, delete the current package and install from source. it will help.

0xd1ma gravatar image0xd1ma ( 2018-01-24 00:56:53 -0600 )edit

@0xd1ma: could you clarify a bit why the debian pkg is not working? That would help future readers decide whether your advice still applies if/when the issues you see get fixed.

gvdhoorn gravatar imagegvdhoorn ( 2018-01-24 03:39:35 -0600 )edit

Thanks guys for the quickly response. I updated the question with the information that you asked me. I also to remove the DEB version and installed it from source and it neither work. Any other suggestion? Is the nmea sentence that I posted correct?

taihu gravatar imagetaihu ( 2018-01-24 12:56:56 -0600 )edit

upload your bag file to the public repository

0xd1ma gravatar image0xd1ma ( 2018-01-25 01:58:19 -0600 )edit

Here is the gps_rtk_rosbag.

taihu gravatar imagetaihu ( 2018-01-25 11:40:04 -0600 )edit

There's definitely something odd going on with your setup/bagfile. I can run nmea_topic_driver over bagfiles I've collected, and it works just fine, but when I try running it on yours, I don't get any output on /fix, just as you've described.

M@t gravatar imageM@t ( 2018-01-25 13:42:53 -0600 )edit

That is good, so there is a bug in the script that I am using for the creation of the rosbag from the nmea raw sentences (I upload the code of the script). Could you send me a few seconds of your rosbag? so I can figure it out what is going on?

taihu gravatar imagetaihu ( 2018-01-26 05:27:09 -0600 )edit

1 Answer

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answered 2018-01-26 13:23:58 -0600

taihu gravatar image

The issue was solved when we removed the CR (Carriage Return) and the LF (Line Feed) control characters from the nmea sentences.

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Comments

Could you please clarify how you removed those characters from the messages?

minipixel gravatar imageminipixel ( 2018-04-29 11:40:17 -0600 )edit

I just deleted the characters in the gps.log file that I used to create the rosbag file.

taihu gravatar imagetaihu ( 2018-04-29 13:05:39 -0600 )edit

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Asked: 2018-01-23 15:05:09 -0600

Seen: 476 times

Last updated: Jan 26 '18