Subscribing to RTCM corrections over main-port using NTRIP-Client

[Acerox41]

Describe the bug
I'm using dual antenna gnss system with the 3DM-GQ7. I want to use RTK and subscribe to rtcm corrections coming from the ntrip client: Setting rtk_dongle_enable : True and subscribe_rtcm : True.

To get this work I need also to publish NMEA sentence messages to the ntrip client: publish_nmea : True
Problem: After the first roslaunch driver want to open aux-port and returns an error (obviously because nothing is connected).
Pressing Ctrl-C and again using roslaunch, the driver attempts to open the main-port and fails after iterating through all baud-rates. Then I need to replug the sensor otherwise I get no connection anymore.

Note: The driver works like charm with the current my_params_ros.yml file for different baudrates - without setting rtcm, and nmea parameters mentioned above.

To Reproduce
Steps to reproduce the behavior:

1. roslaunch microstrain_inertial_driver microstrain.launch params_file:="/home/me/my_params_ros.yml"
2. See Error:

[ INFO] [1692691009.480278759]: Running microstrain_inertial_driver version: 3.1.0
[ INFO] [1692691009.481124144]: Using MIP SDK version: v1.0.0-42-gc332b1a
[ INFO] [1692691009.484580117]: Attempting to open serial port </dev/ttyACM0> at <921600>
[ INFO] [1692691009.487616214]: Setting device to idle in order to configure
[ INFO] [1692691009.487860696]: Note: Setting UART baudrate to 921600
[ INFO] [1692691009.518224636]: Main Connection Info:
#######################
Model Name: 3DM-GQ7
Serial Number: 6284.154117
Firmware Version: 1.1.02
#######################
[ INFO] [1692691009.522674156]: Attempting to open serial port </dev/ttyACM1> at <921600>

[ERROR] [1692691009.522770509]: MIP SDK: Unable to open port (2): No such file or directory
[ERROR] [1692691009.522816173]: Failed to read configuration for node
[FATAL] [1692691009.522840334]: Unable to configure node base
[microstrain_inertial_driver-2] process has died [pid 16895, exit code 2, cmd /home/me/ros_ws/devel/lib/microstrain_inertial_driver/microstrain_inertial_driver_node __name:=microstrain_inertial_driver __log:=/home/me/.ros/log/72541e2e-40c1-11ee-bbe7-48b02de0c823/microstrain_inertial_driver-2.log].
log file: /home/me/.ros/log/72541e2e-40c1-11ee-bbe7-48b02de0c823/microstrain_inertial_driver-2*.log

Expected behavior
Subscribing to /rtcmtopic over the main-port.

Environment (please complete the following information):

• Hardware system: Nvidia Jetson Orin DevKit
• OS: Ubuntu 20.04.6 LTS
• Architecture: arm64
• ROS Version: noetic 1.16.0
• microstrain_inertial_driver version: 3.1.0
• MIP SDK version: v1.0.0-42-gc332b1a
• Sensor: 3DM-GQ7

Modifications
No modifications in source code.

Launch Parameters
"my_params_ros.yml" as zip attached
my_params_ros.zip

Additional context
I'm also using the ntrip_client node that is succesfull connected.

[nathanmillermicrostrain]

Please note, the GQ7 can only receive RTCM corrections over the Aux port.

Hope that helps,

Nathan

[Acerox41]

Thanks Nathan, so in my setup I just need to start ntrip_client and microstrain_inertial_driver with another usb cable to the aux-port?

Thanks in advance

[Acerox41]

Thanks Nathan, so in my setup I just need to start ntrip_client and microstrain_inertial_driver with another usb cable to the aux-port?

Thanks in advance

I just tested it. I works. Thank you very much Nathan.