[Unitree B1] GNSS topics sending no data

Sensors
1

Hi, our team has questions regarding the GNSS of the Unitree B1. The topics /emlid/gps and /odometry/gps are visible when enter rostopic list. But we don’t see any messages on these topics.

About our setup:
We are using an additional local mini-computer with ubuntu20.04 connected to the robot that uses the unitree_legged_sdk-3.8.3. We start the robot via ssh with the robot_bringup.launch.
The base.launch starts in “high_level”
To implement the GPS-topic(s) we also included into the bringup.launch the navsat.launch out of the b1_control package in whick we se the param “publish_filtered_gps” to “true”.

Do you have any idea what’s wrong in this setup?
Also we would be glad to have more informations about the GNSS-module that is beeing used.

Thanks in advance!

2

Dear @CHartberger,

The issue is that the GPS is not receiving any GPS signals. You can verify this by visiting the IP address of EMLID which leads to the homepage and see if there is any data being acquired from the GPS. A faster way is to take the B1 outside with a clearsky and see if the topics still don’t show.

3

Dear @Sohail,
thank you for your fast suggestion.
What is the corresponding IP address of EMLID in the setup? I assume 192.168.123.220 of the x86 CPU connected to the GNSS module?

Of course we tested the GNSS topics outdoor.