tilk / ntrip_ros Goto Github PK

Hello!

Hope you're doing well. I am trying to get your client to work. However, I have encountered the following problem:

It appears that I can succesfully obtain a connection response from the NTRIP caster. However, when I read the response , the "\n\r" string is never found. As a consequence, the code endlessly iterates over a seemingly infinite message.

I have set the following parameters in ROS (exactly as typed here):
ntrip_server = www.igs-ip.net:2101
ntrip_stream = DLF100NLD0
ntrip_user = ****
ntrip_pass= ****

Note: I am not using the nmea_gga sentence, as the NMEA is not supported by the caster which I am trying to access.

connection = HTTPConnection(self.ntc.ntrip_server)
connection.request('GET', '/'+self.ntc.ntrip_stream, None, headers)
response = connection.getresponse()
if response.status != 200: raise Exception("blah")
buf = ""
rmsg = Message()
while not self.stop:
data = response.read(100)
pos = data.find('\r\n')
if pos != -1:
rmsg.message = buf + data[:pos]
rmsg.header.seq += 1
rmsg.header.stamp = rospy.get_rostime()
buf = data[pos+2:]
self.ntc.pub.publish(rmsg)
else: buf += data

I have observed a couple of times that it actually finds the end and succesfully publishes the message. However, there is no periodicity. Perhaps its the NTRIP caster ? I would appreciate any pointer you may have.

Thanks in advance!