insufficient data rate <Novatel GPS (/dev/ttyUSB0)>: 0.000000 < 5.000000

[yamfeng]

Hi ,I am using an OEM718D device that was running at 5 Hz and I have set the expected_rate_(5). When I use the Serial debugging assistant（cutecom），the data is successfully read, however when I use this novatel_gps_driver package, no data is obtained through the commond ---roslaunch novatel_gps_driver tester_for_usb.launch ,and the error is :[ERROR] [1560927037.977802740]: insufficient data rate <Novatel GPS (/dev/ttyUSB0)>: 0.000000 < 5.000000
Is this package not support novatel 718D? or anything is wrong ? have you got the same problem with me?

[pjreed]

I think that this error message is a known bug; see #6. Although it prints that error message, it should still be able to publish GPS messages; do you see messages coming from your ROS topics?

[yamfeng]

thankyou to your reply, I have already fixed this problem, it maybe that when I change the expected_rate_(5), the polling_period is forgoten to be configured , and now I have set it to 0.5, the gps messages is succesfully published, Is this driver compatible with OEM718D?

[sharvil-patankar]

How did you change the expected rate? I couldn't find an API to change it. DId you change the source code?
Thanks,

[pjreed]

The value is currently hard-coded at https://github.com/swri-robotics/novatel_gps_driver/blob/master/novatel_gps_driver/src/nodelets/novatel_gps_nodelet.cpp#L206, but it might make sense to make this a separate parameter and/or have the default value be based on polling_period, which is a parameter.