LORD-MicroStrain/microstrain_inertial

3DM-GQ7 RTCM / NMEA configuration for external data

Closed this issue · 2 comments

mschratter commented

I want to use an external ntrip server for the rtcm data. Previously I used another GNSS receiver with your ntrip_client to get the rtcm_msgs via the nmea_msgs message.
If I read the documentation correctly, one way to get the rtcm data to the 3DM-GQ7 is to use the aux port via a second cable. Is this correct?

If so, how do I configure the 3DM-GQ7 in the yaml to receive the nema message via ROS and how do I configure the ntrip_client node to send the rtcm data to the 3DM-GQ7 via the aux port, or does the microstrain_inertial_driver send the rtcm data to the 3DM-GQ7?

Expected behavior
Getting rtcm data on the 3DM-GQ7

Environment (please complete the following information):

  • OS: Ubuntu
  • Architecture: x86_64
  • ROS Version: humble
  • Version: 4.3.0
  • Sensor(s): 3DM-GQ7
Aposhian commented

If you set the ROS param ntrip_interface_enable: True then it will subscribe to RTCM messages that the ntrip_client publishes, and write them to the aux port, as well as read NMEA sentences from the aux port and publish them for the ntrip_client.

https://github.com/LORD-MicroStrain/microstrain_inertial_driver_common/blob/80378f949792743bdc15de1c549e7ff28d00004e/config/params.yml#L165-L168

robbiefish commented

Thanks for answering this @Aposhian. I am closing this issue.

Additionally, for a simple example of using microstrain_inertial_driver with the ntrip_client, check out microstrain_inertial_localization and it's wiki page, specifically the NTRIP Settings section