{"action":"opened","issue":{"url":"https://api.github.com/repos/ApolloAuto/apollo/issues/1882","repository_url":"https://api.github.com/repos/ApolloAuto/apollo","labels_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/1882/labels{/name}","comments_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/1882/comments","events_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/1882/events","html_url":"https://github.com/ApolloAuto/apollo/issues/1882","id":283153970,"number":1882,"title":"GPS devices detect problems in Apollo, what needs to be done?","user":{"login":"silverland79","id":30067724,"avatar_url":"https://avatars2.githubusercontent.com/u/30067724?v=4","gravatar_id":"","url":"https://api.github.com/users/silverland79","html_url":"https://github.com/silverland79","followers_url":"https://api.github.com/users/silverland79/followers","following_url":"https://api.github.com/users/silverland79/following{/other_user}","gists_url":"https://api.github.com/users/silverland79/gists{/gist_id}","starred_url":"https://api.github.com/users/silverland79/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/silverland79/subscriptions","organizations_url":"https://api.github.com/users/silverland79/orgs","repos_url":"https://api.github.com/users/silverland79/repos","events_url":"https://api.github.com/users/silverland79/events{/privacy}","received_events_url":"https://api.github.com/users/silverland79/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2017-12-19T09:17:01Z","updated_at":"2017-12-19T09:17:01Z","closed_at":null,"author_association":"NONE","body":"GPS devices detect  in linux no problem, it can receive satellite data and RTK-GPS data. However, the Apollo HMI GPS detection error, the following is the configuration information and error log. I want to know what else needs to be done to make GPS device pass the “Setup”.\r\n1.localization.INFO:\r\nLog file created at: 2017/12/19 15:47:45\r\nRunning on machine: in_dev_docker\r\nLog line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg\r\nE1219 15:47:45.412098  5828 rtk_localization.cc:79] GPS message buffer is empty.\r\nE1219 15:47:45.421730  5828 rtk_localization.cc:79] GPS message buffer is empty.\r\nE1219 15:47:45.449895  5828 rtk_localization.cc:79] GPS message buffer is empty.\r\nE1219 15:47:45.449975  5828 rtk_localization.cc:79] GPS message buffer is empty.\r\nE1219 15:47:45.464756  5828 rtk_localization.cc:79] GPS message buffer is empty.\r\n\r\n2.gnss_driver.launch:\r\n<launch>\r\n    <arg name=\"gnss_conf\" default=\"$(find gnss_driver)/conf/gnss_conf_mkz.txt\" />\r\n    <arg name=\"proj4_text\" default=\"+proj=utm +zone=51 +ellps=WGS84 +towgs84=0,0,0,0,0,0,0 +units=m +no_defs \" />\r\n\r\n    <node pkg=\"nodelet\" type=\"nodelet\" name=\"gnss_nodelet_manager\"\r\n        args=\"manager\" output=\"screen\">\r\n        <param name=\"proj4_text\" value=\"$(arg proj4_text)\" />\r\n    </node>\r\n\r\n    <node pkg=\"nodelet\" type=\"nodelet\" name=\"stream_nodelet\"\r\n        args=\"load gnss_driver/StreamNodelet gnss_nodelet_manager\" output=\"screen\">\r\n        <param name=\"gnss_conf\" value=\"$(arg gnss_conf)\" />\r\n    </node>\r\n\r\n    <node pkg=\"nodelet\" type=\"nodelet\" name=\"parser_nodelet\"\r\n        args=\"load gnss_driver/ParserNodelet gnss_nodelet_manager\" output=\"screen\">\r\n        <param name=\"gnss_conf\" value=\"$(arg gnss_conf)\" />\r\n        <param name=\"proj4_text\" value=\"$(arg proj4_text)\" />\r\n    </node>\r\n</launch>\r\n\r\n3.gnss_conf_mkz.txt:\r\ndata {\r\n    format: NOVATEL_BINARY\r\n    serial {\r\n        device: \"/dev/ttyUSB0\"\r\n        baud_rate: 115200\r\n    }\r\n}\r\n\r\nrtk_from {\r\n    format: RTCM_V3\r\n    ntrip {\r\n        address:rtk.ntrip.qxwz.com\r\n        port:8002\r\n        mount_point:RTCM30_GG\r\n        user:qxmfj002\r\n        password:cb55ed2\r\n        timeout_s: 5\r\n    }\r\n}\r\n\r\nrtk_to {\r\n    format: NOVATEL_BINARY\r\n    serial {\r\n        device: \"/dev/ttyUSB1\"\r\n        baud_rate: 115200\r\n    }\r\n}\r\n\r\nrtk_solution_type: RTK_RECEIVER_SOLUTION\r\n\r\n\r\nlogin_commands: \"UNLOGALL THISPORT\\r\\n\"\r\nlogin_commands: \"LOG COM2 GPRMC ONTIME 1.0 0.25\\r\\n\"\r\nlogin_commands: \"EVENTOUTCONTROL MARK2 ENABLE POSITIVE 999999990 10\\r\\n\"\r\nlogin_commands: \"EVENTOUTCONTROL MARK1 ENABLE POSITIVE 500000000 500000000\\r\\n\"\r\nlogin_commands: \"LOG NCOM1 GPGGA ONTIME 1.0\\r\\n\"\r\n\r\nlogin_commands: \"log bestgnssposb ontime 0.5\\r\\n\"\r\nlogin_commands: \"log bestgnssvelb ontime 0.5\\r\\n\"\r\nlogin_commands: \"log bestposb ontime 0.5\\r\\n\"\r\nlogin_commands: \"log INSPVASB ontime 0.01\\r\\n\"\r\nlogin_commands: \"log CORRIMUDATASB ontime 0.01\\r\\n\"\r\nlogin_commands: \"log INSCOVSB ontime 1\\r\\n\"\r\nlogin_commands: \"log mark1pvab onnew\\r\\n\"\r\n\r\nlogin_commands: \"log imutoantoffsetsb once\\r\\n\"\r\nlogin_commands: \"log vehiclebodyrotationb onchanged\\r\\n\"\r\n\r\nlogout_commands: \"EVENTOUTCONTROL MARK2 DISABLE\\r\\n\"\r\nlogout_commands: \"EVENTOUTCONTROL MARK1 DISABLE\\r\\n\"\r\n"}}
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