Using KumarRobotics/ublox with emlid REACH using str2str, RTKLIB

natsuka81 · April 19, 2020, 7:28pm

Hello,

Has anyone used KumarRobotics/ublox with emlid REACH RTK module where ublox m8t chip is mounted using str2str?
I would appreciate if I get any advise to solve an issue I have now.

I’m trying to compare the NMEA solution coming from emlid itself with the positioning result with KumarRobotics/ublox.

However, I got an error below. The error is on the right hand where I launched roslaunch file of KumarRobotics and I got “terminate called after throwing an instance of ‘std::runtime_error’”.
I googled but this issue page doesn’t help me.

github.com/KumarRobotics/ublox

Could not configure serial baud rate

opened 07:22AM - 16 May 18 UTC

new-in-ros

Hello, sometimes I get an error, if I want to connect the rover with my Rasperr…y Pi. The base and the rover are connected to difference Raspberry Pi. I can start the base without an error. But if I start the rover launch file, it works just every third time. robot@igel01:~/catkin_ws/src/ublox/ublox_gps/config$ roslaunch ublox_gps ublox_device.launch node_name:=rover param_file_name:=c94_m8p_rover ... logging to /home/robot/.ros/log/bb634996-58d2-11e8-a299-b827eb0b48c0/roslaunch-igel01-5419.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://igel01:35856/ SUMMARY ======== CLEAR PARAMETERS * /rover/ PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.13 * /rover/debug: 1 * /rover/device: /dev/ttyACM0 * /rover/dgnss_mode: 3 * /rover/dr_limit: 0 * /rover/dynamic_model: airborne2 * /rover/enable_ppp: False * /rover/fix_mode: auto * /rover/frame_id: gps * /rover/gnss/beidou: False * /rover/gnss/glonass: True * /rover/gnss/qzss: False * /rover/inf/all: True * /rover/nav_rate: 4 * /rover/publish/aid/hui: False * /rover/publish/all: True * /rover/publish/nav/posecef: False * /rover/rate: 4 * /rover/save/device: 4 * /rover/save/mask: 3103 * /rover/sv_in/acc_lim: 3.0 * /rover/sv_in/min_dur: 300 * /rover/sv_in/reset: False * /rover/tmode3: 1 * /rover/uart1/baudrate: 19200 * /rover/uart1/in: 32 * /rover/uart1/out: 0 NODES / rover (ublox_gps/ublox_gps) ROS_MASTER_URI=http://localhost:11311 process[rover-1]: started with pid [5438] [ INFO] [1526454535.202589825]: U-Blox: Opened serial port /dev/ttyACM0 [DEBUG] [1526454535.203817069]: Configuring UART1 baud rate: 19200, In/Out Protocol: 32 / 0 terminate called after throwing an instance of 'std::runtime_error' what(): Could not configure serial baud rate [rover-1] process has died [pid 5438, exit code -6, cmd /home/robot/catkin_ws/devel/lib/ublox_gps/ublox_gps __name:=rover __log:=/home/robot/.ros/log/bb634996-58d2-11e8-a299-b827eb0b48c0/rover-1.log]. log file: /home/robot/.ros/log/bb634996-58d2-11e8-a299-b827eb0b48c0/rover-1*.log

On the left hand I ran str2str of RTKLIB to get correction data from NTRIP server.

By taking look at the left side, the correction data doesn’t seem to be received regularly, because sometimes it becomes timeout or unauthorized even though sometimes it the connection is established.

So, I have a hypothesis that the str2str works wrong and this cause the runtime error of KumarRobotics/ublox but I cannot prove this hypothesis because I don’t have one more gps receiver to setup a NTRIP Server…

Here, I would like to ask 3 questions.

Does this ouptut of str2str look wrong?
Does EMLID reach work with KumarRobotics/ublox?
Would anyone please give me any suggestion to solve this issue?

Thank you so much for your cooperation.

tatiana.andreeva · April 20, 2020, 5:41pm

Hi Natsuka,

Welcome to our forum!

I’m afraid I hardly can be of much help in questions regarding 3rd-party equipment. Still, I can assist with configurations from the Reach side. Do you want to output the NMEA position from Reach?

system · July 29, 2020, 5:41pm

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