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?