Merge pull request #178 from CMU-cabot/muratams/dev-fix-diagnostics

Muratams/dev fix diagnostics

Author: daisukes

mf_localization/configuration_files/ublox/zed_f9p_rover.yaml

@@ -13,6 +13,12 @@ ublox:
 
     rate: 10.0 # Hz
 
+    # diagnostics
+    ignore_fix_timestamp: true
+    # fix_frequency_tolerance: 0.15
+    # fix_frequency_window: 10
+    # timestamp_status_min: 0
+
     # message publishers
     publish:
       all: false

mf_localization/launch/gnss.launch.py

@@ -59,6 +59,7 @@ def generate_launch_description():
     authentificate = LaunchConfiguration('authentificate')
     username = LaunchConfiguration('username')
     password = LaunchConfiguration('password')
+    respawn_ntrip_client = LaunchConfiguration('respawn_ntrip_client')
 
     # str2str_node
     serial_port = LaunchConfiguration('serial_port')
@@ -101,6 +102,8 @@ def generate_launch_description():
                                 'authentificate': authentificate,
                                 'username': username,
                                 'password': password,
+                                'reconnect_attempt_max': '10000',  # default: 10
+                                'respawn' : respawn_ntrip_client,
                                 'nmea_max_length': '90',  # a large value to accept high precision mode
                             }.items(),
                             condition=IfCondition(ntrip_client)
@@ -182,6 +185,7 @@ def generate_launch_description():
         DeclareLaunchArgument('authentificate', default_value='false', description='Whether to authentificate with the server. If set to true, username and password must be supplied.'),
         DeclareLaunchArgument('username', default_value=''),
         DeclareLaunchArgument('password', default_value=''),
+        DeclareLaunchArgument('respawn_ntrip_client', default_value='true'),
 
         # str2str_node
         DeclareLaunchArgument('serial_port', default_value='ttyUBLOX'),

mf_localization/launch/ublox-zed-f9p.launch.xml

@@ -26,6 +26,7 @@
   <arg name="param_file_name"     default="zed_f9p_rover" />
   <arg name="param_file_dir"      default="$(find-pkg-share mf_localization)/configuration_files/ublox" />
   <arg name="output"              default="both" />
+  <arg name="respawn"             default="true"/>
 
   <!-- the following attributes are not available in ROS 2-->
   <!--
@@ -37,7 +38,9 @@
   <node pkg="ublox_gps"
         exec="ublox_gps_node"
         name="$(var node_name)"
-        output="$(var output)">
+        output="$(var output)"
+        respawn="$(var respawn)"
+        respawn_delay="5">
     <param from="$(var param_file_dir)/$(var param_file_name).yaml" />
     <!-- remapping because ROS 2 ublox node publishes navsat type messages to navstate topics. -->
     <remap from="navstate" to="ublox/navsat"/>