Invalid settings: TMODE3 must be set, even though it is being set.

[bjajoh]

I'm using 2 different f9p kits. The C099 evel kit and the new EVK eval kit. Both from ublox.
The C099 works flawless!
However the EVK throws the following error (with the exact same working config):

root@ubuntu:/ws# ros2 launch common sensor.f9p.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2023-08-30-14-10-38-490867-ubuntu-1366
[INFO] [launch]: Default logging verbosity is set to INFO
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: /ws/install/ublox_gps/share/ublox_gps/config/zed_f9p.yaml
[INFO] [ublox_gps_node-1]: process started with pid [1367]
[ublox_gps_node-1] [INFO] [1693404638.864029519] [ublox_gps_node]: U-Blox: Opened serial port /dev/ttyACM0
[ublox_gps_node-1] [DEBUG] [1693404638.865349192] [ublox_gps_node]: Configuring UART1 baud rate: 9600, In/Out Protocol: 7 / 1
[ublox_gps_node-1] [INFO] [1693404638.868733273] [ublox_gps_node]: EXT CORE 1.00 (0fa0ae), HW VER: 00190000
[ublox_gps_node-1] [DEBUG] [1693404638.869039845] [ublox_gps_node]: ROM BASE 0x118B2060
[ublox_gps_node-1] [DEBUG] [1693404638.869401101] [ublox_gps_node]: FWVER=HPG 1.32
[ublox_gps_node-1] [DEBUG] [1693404638.869490193] [ublox_gps_node]: PROTVER=27.31
[ublox_gps_node-1] [DEBUG] [1693404638.869532544] [ublox_gps_node]: MOD=ZED-F9P
[ublox_gps_node-1] [DEBUG] [1693404638.869568322] [ublox_gps_node]: GPS;GLO;GAL;BDS
[ublox_gps_node-1] [DEBUG] [1693404638.869600895] [ublox_gps_node]: SBAS;QZSS
[ublox_gps_node-1] [INFO] [1693404638.882692169] [ublox_gps_node]: U-Blox Firmware Version: 9
[ublox_gps_node-1] [WARN] [1693404638.883720882] [ublox_gps_node]: For HPG Ref devices, nav_rate should be exactly 1 Hz.
[ublox_gps_node-1] terminate called after throwing an instance of 'std::runtime_error'
[ublox_gps_node-1]   what():  Invalid settings: TMODE3 must be set
[ERROR] [ublox_gps_node-1]: process has died [pid 1367, exit code -6, cmd '/ws/install/ublox_gps/lib/ublox_gps/ublox_gps_node --ros-args'].

This is my config:

ublox_gps_node:
  ros__parameters:
    debug: 0                    # Range 0-4 (0 means no debug statements will print)
    device: /dev/ttyACM0
    frame_id: gps
    rate: 1                     # in Hz
    nav_rate: 1                 # [# of measurement cycles], recommended 1 Hz, may
    uart1:
      baudrate: 9600
    # TMODE3 Config
    tmode3: 1                   # Survey-In Mode
    sv_in:
      reset: True               # True: disables and re-enables survey-in (resets)
                                # False: Disables survey-in only if TMODE3 is
                                # disabled
      min_dur: 300              # Survey-In Minimum Duration [s]
      acc_lim: 3.0              # Survey-In Accuracy Limit [m]

    inf:
      all: true                   # Whether to display all INF messages in console

    publish:
      all: true
      aid:
        hui: false
      nav:
        posecef: false

This seems to be strange, anything I have overlooked?

[bnbhat]

Hi @bjajoh

Are you still experiencing this issue, or have you been able to find a solution?

[mrinalTheCoder]

I have the same issue. here is my config:

ublox_gps_node:
  ros__parameters:
    debug: 1 # Range 0-4 (0 means no debug statements will print)
    device: /dev/ttyACM0
    frame_id: gps_base
    uart1:
      baudrate: 9600

    dynamic_model: stationary

    fix_mode: auto
    dr_limit: 0
    enable_ppp: false

    rate: 1.0 # Measurement rate in Hz
    nav_rate: 1 # in number of measurement cycles

    # TMODE3 Config
    tmode3: 1 # Survey-In Mode
    sv_in:
      reset:
        true # True: disables and re-enables survey-in (resets)
        # False: Disables survey-in only if TMODE3 is
        # disabled
      min_dur: 300 # Survey-In Minimum Duration [s]
      acc_lim: 3.0 # Survey-In Accuracy Limit [m]

    # RTCM out config
    rtcm:
      ids:
        [5, 87, 77, 230] # RTCM Messages to configure for Base station
        # Enabled: GPS MSM7, GLONASS MSM7,
        # GLONASS CP bias, Stationary RTK ref
        # 0xF5 0x05 Stationary RTK reference station
        # ARP
        # 0xF5 0x4A GPS MSM4
        # 0xF5 0x4D GPS MSM7
        # 0xF5 0x54 GLONASS MSM4
        # 0xF5 0x57 GLONASS MSM7
        # 0xF5 0x7C BeiDou MSM4
        # 0xF5 0x7F BeiDou MSM7
        # 0xF5 0xE6 GLONASS code-phase biases
        # 0xF5 0xFE Reference station PVT
        #(u-blox proprietary RTCM Message)
      rates:
        [1, 1, 1, 10] # in number of navigation solutions, must match
        # nav_rate, except for 0xE6

    dat:
      set: false

    # GNSS Config
    gnss:
      glonass: true # Supported by zed-f9p
      beidou: true # Supported by zed-f9p
      qzss: false

    inf:
      all: true # Whether to display all INF messages in console

    # Enable u-blox message publishers
    publish:
      all: true
      aid:
        hui: false
      nav:
        posecef: false