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Muratams/dev fix diagnostics #178

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Merged
daisukes merged 4 commits into from
Apr 5, 2025
Merged

Muratams/dev fix diagnostics #178

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17af961
respawn ublox node
muratams Apr 4, 2025
319d5c6
respawn ntrip_client node when it fails to start up
muratams Apr 4, 2025
6837698
update gnss.launch.py to increase reconnect_attempt_max of ntrip client
muratams Apr 4, 2025
c43912a
update ublox node config to ignore timestamp delay in diagnostic updater
muratams Apr 4, 2025
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6 changes: 6 additions & 0 deletions mf_localization/configuration_files/ublox/zed_f9p_rover.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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4 changes: 4 additions & 0 deletions mf_localization/launch/gnss.launch.py
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Expand Up @@ -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')
Expand Down Expand Up @@ -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)
Expand Down Expand Up @@ -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'),
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5 changes: 4 additions & 1 deletion mf_localization/launch/ublox-zed-f9p.launch.xml
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Expand Up @@ -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-->
<!--
Expand All @@ -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"/>
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