ublox RXM messages
We are using the ublox_gps package to log data from my C94-M8P evaluation board. Specifically, we are interested in using the raw GNSS data for positioning algorithms. For this purpose, we need to use ublox RXM messages. I configured our node to publish all supported messages (see config file below).
When I start our ublox_gps node, there are some messages published:
user@pc:~$ rostopic list /diagnostics /rosout /rosout_agg /ublox/aidalm /ublox/aideph /ublox/fix /ublox/fix_velocity /ublox/monhw /ublox/navclock /ublox/navposecef /ublox/navpvt /ublox/navsat /ublox/navstatus /ublox/navsvin
However, there are no RXM messages (such as rxmraw), although these message formats are supported by ublox_gps. If I check the configuration of my receiver via u-center, RXM messages are sent frequently.
When I try the same with an older u-blox receiver (EVK-6H), RXM messages are generated (rxmalm, rxmeph, rxpraw, rxmsfrb).
So did I miss a point in my configuration? Or is there any other reason why no RXM messages are generated on newer u-blox devices?
This is my config file:
# Config debug: 1 # Range 0-4 (0 means no debug statements will print) device: /dev/ttyS11 frame_id: gps raw_data: true # Device supports raw data output rate: 1 # Measurement rate in Hz nav_rate: 1 # in number of measurement cycles # in number of navigation solutions enable_ppp: false dr_limit: 0 dat: set: false # Do not set the user configured datum # GNSS Config, verify which GNSS are supported by your device gnss: gps: true # (not required since it defaults to true) glonass: true beidou: false qzss: false sbas: false # Time mode tmode3 : 0 # 0 - disabled inf: all: true # Whether to display INF messages # Message subscriptions subscribe: all: true # Subscribe to all messages aid: all: false # ... except AID messages publish: all: true nav: all:true rxm: all:true