Livox-SDK/livox_ros_driver

Set GPRMC synchronization time error code: -1.

ManChrys opened this issue · 1 comments

ManChrys commented

Hello,

as i can see everything works fine Lidar[0][0TFDHAF00691U41] DataType[0] timestamp_type[1] PacketInterval[1000000] PublishPackets[100]

lidar: livox mid 40
imu gnss/ins: xsens mti g 710

lidar

but i have this error. Set GPRMC synchronization time error code: -1.

What that means ans how can i fix it ?

Thanks in advance!

geo@geo:/media/geo/d057a6b6-f590-4870-a4f8-13b392d0f9eb/geo/ws_livox$ roslaunch livox_ros_driver livox_lidar.launch
... logging to /home/geo/.ros/log/87b5fcb2-2c34-11ed-a119-00012e910c4a/roslaunch-geo-14145.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://geo:46747/

SUMMARY

PARAMETERS

  • /cmdline_file_path: livox_test.lvx
  • /cmdline_str: 100000000000000
  • /data_src: 0
  • /enable_imu_bag: True
  • /enable_lidar_bag: True
  • /frame_id: livox_frame
  • /multi_topic: 0
  • /output_data_type: 0
  • /publish_freq: 10.0
  • /rosdistro: melodic
  • /rosversion: 1.14.13
  • /user_config_path: /media/geo/d057a6...
  • /xfer_format: 0

NODES
/
livox_lidar_publisher (livox_ros_driver/livox_ros_driver_node)

ROS_MASTER_URI=http://localhost:11311

process[livox_lidar_publisher-1]: started with pid [14167]
[ INFO] [1662292946.947229571]: Livox Ros Driver Version: 2.6.0
[ INFO] [1662292946.949671756]: Data Source is raw lidar.
[ INFO] [1662292946.949981476]: Config file : /media/geo/d057a6b6-f590-4870-a4f8-13b392d0f9eb/geo/ws_livox/src/livox_ros_driver/livox_ros_driver/config/livox_lidar_config.json
Commandline input bd:100000000000000
Invalid bd:100000000000000!
Livox SDK version 2.3.0
broadcast code[0TFDHAF00691U41] : 1 0 0 0 0 0
Add Raw user config : 0TFDHAF00691U41
broadcast code[0TFDG3U99101431] : 0 0 0 0 0 0
Enable timesync :
Uart[/dev/ttyUSB0],baudrate index[11],parity index[0]
Disable auto connect mode!
List all broadcast code in whiltelist:
0TFDHAF00691U41
Livox-SDK init success!
[ INFO] [1662292946.950613575]: Init lds lidar success!
Open /dev/ttyUSB0 success!
[2022-09-04 15:02:27.000] [console] [info] Broadcast broadcast code: 0TFDHAF00691U41 [device_discovery.cpp] [OnBroadcast] [150]
[2022-09-04 15:02:27.001] [console] [info] LocalIP: 192.168.1.100 [device_discovery.cpp] [OnBroadcast] [201]
[2022-09-04 15:02:27.001] [console] [info] DeviceIP: 192.168.1.60 [device_discovery.cpp] [OnBroadcast] [202]
[2022-09-04 15:02:27.001] [console] [info] Command Port: 55501 [device_discovery.cpp] [OnBroadcast] [203]
[2022-09-04 15:02:27.001] [console] [info] Data Port: 56001 [device_discovery.cpp] [OnBroadcast] [204]
[2022-09-04 15:02:27.022] [console] [info] New Device [device_discovery.cpp] [OnData] [99]
[2022-09-04 15:02:27.023] [console] [info] Handle: 0 [device_discovery.cpp] [OnData] [100]
[2022-09-04 15:02:27.023] [console] [info] Broadcast Code: 0TFDHAF00691U41 [device_discovery.cpp] [OnData] [101]
[2022-09-04 15:02:27.023] [console] [info] Type: 1 [device_discovery.cpp] [OnData] [102]
[2022-09-04 15:02:27.023] [console] [info] IP: 192.168.1.60 [device_discovery.cpp] [OnData] [103]
[2022-09-04 15:02:27.023] [console] [info] Command Port: 55501 [device_discovery.cpp] [OnData] [104]
[2022-09-04 15:02:27.023] [console] [info] Data Port: 56001 [device_discovery.cpp] [OnData] [105]
[2022-09-04 15:02:27.023] [console] [info] Send Command: Set 0 Id 2 Seq 3 [command_channel.cpp] [Send] [243]
[2022-09-04 15:02:27.046] [console] [info] Recieve Ack: Set 0 Id 2 Seq 3 [command_handler.cpp] [OnCommand] [118]
Lidar[0TFDHAF00691U41] status_code[0] working state[5] feature[0]
[2022-09-04 15:02:27.046] [console] [info] Send Command: Set 0 Id 2 Seq 4 [command_channel.cpp] [Send] [243]
[2022-09-04 15:02:27.070] [console] [info] Recieve Ack: Set 0 Id 2 Seq 4 [command_handler.cpp] [OnCommand] [118]
firmware version: 3.8.0.0
[2022-09-04 15:02:27.094] [console] [info] Update State to 1, device connect true [device_manager.cpp] [UpdateDeviceState] [281]
Lidar[0TFDHAF00691U41] status_code[24576] working state[1] feature[0]
[2022-09-04 15:02:27.095] [console] [info] Send Command: Set 0 Id 5 Seq 6 [command_channel.cpp] [Send] [243]
[2022-09-04 15:02:27.118] [console] [info] Recieve Ack: Set 0 Id 5 Seq 6 [command_handler.cpp] [OnCommand] [118]
Set coordinate success!
[2022-09-04 15:02:27.118] [console] [info] Send Command: Set 0 Id 4 Seq 7 [command_channel.cpp] [Send] [243]
Lidar[0][0TFDHAF00691U41] DataType[0] timestamp_type[1] PacketInterval[1000000] PublishPackets[100]
Lidar[0][0TFDHAF00691U41] storage queue size : 200 256
[2022-09-04 15:02:27.143] [console] [info] Recieve Ack: Set 0 Id 4 Seq 7 [command_handler.cpp] [OnCommand] [118]
Lidar start sample success
[ INFO] [1662292947.219547190]: Support only one topic.
[ INFO] [1662292947.221078957]: livox/lidar publish use PointCloud2 format, set ROS publisher queue size 256
[DEBUG] [1662292947.221158621]: Trying to publish message of type [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181] on a publisher with type [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181]
Set GPRMC synchronization time error code: -1.
RMC data parse success!.
Set GPRMC synchronization time error code: -1.
RMC data parse success!.
RMC data parse success!.
[2022-09-04 15:02:27.393] [console] [info] Send Command: Set 1 Id 10 Seq 8 [command_channel.cpp] [Send] [243]
[2022-09-04 15:02:27.407] [console] [info] Recieve Ack: Set 1 Id 10 Seq 8 [command_handler.cpp] [OnCommand] [118]
Set lidar[0] sync time status[0] response[0]
Set GPRMC synchronization time error code: -1.
RMC data parse success!.
Set GPRMC synchronization time error code: -1.
RMC data parse success!.
RMC data parse success!.
[2022-09-04 15:02:28.412] [console] [info] Send Command: Set 1 Id 10 Seq 10 [command_channel.cpp] [Send] [243]

jankin1024 commented

Hi, I met this problem, too. Have you solved this?