Support for multiple ublox X20p receivers with distinct Vendor IDs

[markusschratter]

I would like to use the ublox_dgnss driver with two ublox X20P receivers connected at the same time. However, I can only connect with the receiver that has the default vendor ID, 0x1ab.

Since the driver identifies devices by their vendor and product IDs, I tried assigning each receiver a unique product ID via u-center to distinguish them via udev rules and the driver.

$ lsusb
Bus 001 Device 017: ID 1546:01ab U-Blox AG u-blox GNSS receiver
Bus 001 Device 016: ID 1546:01ac U-Blox AG u-blox GNSS receiver

$ cat 98-gnss.rules
# UBLOX ZED-X20P (CDC-ACM) - SUPPORTED
ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01ab", MODE="0666", GROUP="plugdev", GROUP="dialout"
ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01ac", MODE="0666", GROUP="plugdev", GROUP="dialout"

Then, in device_family.cpp I changed the ID to 0x1ac for testing purposes. However, in the console, I received the following:

[component_container_mt-2] [INFO] [1762030165.813936670] [ublox_nav_sat_fix_hp_container]: Found class: rclcpp_components::NodeFactoryTemplate<ublox_nav_sat_fix_hp::UbloxNavSatHpFixNode>
[component_container_mt-2] [INFO] [1762030165.813982366] [ublox_nav_sat_fix_hp_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ublox_nav_sat_fix_hp::UbloxNavSatHpFixNode>
[component_container_mt-2] [INFO] [1762030165.815968281] [ublox_nav_sat_fix_hp]: starting ublox_nav_sat_fix_hp
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/ublox_nav_sat_fix_hp' in container '/ublox_nav_sat_fix_hp_container'
[component_container_mt-1] [INFO] [1762030165.817307342] [ublox_dgnss_container]: Found class: rclcpp_components::NodeFactoryTemplate<ublox_dgnss::UbloxDGNSSNode>
[component_container_mt-1] [INFO] [1762030165.817321252] [ublox_dgnss_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ublox_dgnss::UbloxDGNSSNode>
[component_container_mt-1] [INFO] [1762030165.818042849] [ublox_dgnss]: starting ublox_dgnss
[component_container_mt-1] [INFO] [1762030165.818478448] [ublox_dgnss]: Device family: X20P - All-band GNSS (multiple interfaces) (Product IDs: [0x01ac, 0x050c, 0x050d], Reliable iSerial: YES)
[component_container_mt-1] [INFO] [1762030165.818524302] [ublox_dgnss]: Parameter DEVICE_SERIAL_STRING found with value:  (will connect to matching X20P USB interface)
[component_container_mt-1] [INFO] [1762030165.818551230] [ublox_dgnss]: Parameter FRAME_ID found with value: ubx
[component_container_mt-1] [INFO] [1762030165.818555284] [ublox_dgnss]: ParameterManager initialized
[component_container_mt-1] [INFO] [1762030165.818803441] [ublox_dgnss]: Loading default UBX config for X20P: /home/markus/playground_ws/install/ublox_dgnss/share/ublox_dgnss/config/x20p_ubx_config.toml
[component_container_mt-1] [INFO] [1762030165.818936557] [ublox_dgnss]: Loaded 130 parameters from X20P TOML
[component_container_mt-1] [INFO] [1762030165.818962590] [ublox_dgnss]: Loaded 130 UBX config items
[component_container_mt-1] [INFO] [1762030165.818969241] [ublox_dgnss]: parameter supplied: CFG_MSGOUT_UBX_NAV_COV_USB
[component_container_mt-1] [INFO] [1762030165.818977829] [ublox_dgnss]: parameter supplied: CFG_MSGOUT_UBX_NAV_HPPOSLLH_USB
[component_container_mt-1] [INFO] [1762030165.818981210] [ublox_dgnss]: parameter supplied: CFG_MSGOUT_UBX_NAV_STATUS_USB
[component_container_mt-1] [INFO] [1762030165.818983962] [ublox_dgnss]: parameter supplied: CFG_MSGOUT_UBX_RXM_RTCM_USB
[component_container_mt-1] [WARN] [1762030165.818987216] [ublox_dgnss]: parameter supplied: CFG_MSGOUT_UBX_RXM_RTCM_USB is not recognised. Ignoring!
[component_container_mt-1] [INFO] [1762030165.818989771] [ublox_dgnss]: parameter supplied: CFG_RATE_MEAS
[component_container_mt-1] [INFO] [1762030165.818992695] [ublox_dgnss]: parameter supplied: CFG_RATE_NAV
[component_container_mt-1] [INFO] [1762030165.818995452] [ublox_dgnss]: parameter supplied: CFG_USBOUTPROT_NMEA
[component_container_mt-1] [INFO] [1762030165.829983544] [ublox_dgnss]: parameter set CFG_INFMSG_NMEA_USB: 0
[component_container_mt-1] [INFO] [1762030165.830038095] [ublox_dgnss]: parameter set CFG_INFMSG_UBX_USB: 0

...

[component_container_mt-1] [INFO] [1762030165.833403543] [ublox_dgnss]: parameter set CFG_USBINPROT_RTCM3X: false
[component_container_mt-1] [INFO] [1762030165.833430495] [ublox_dgnss]: parameter set CFG_USBINPROT_UBX: false
[component_container_mt-1] [INFO] [1762030165.833457407] [ublox_dgnss]: parameter set CFG_USBOUTPROT_RTCM3X: false
[component_container_mt-1] [INFO] [1762030165.833485408] [ublox_dgnss]: parameter set CFG_USBOUTPROT_UBX: false
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/ublox_dgnss' in container '/ublox_dgnss_container'
[component_container_mt-1] [INFO] [1762030165.843678127] [ublox_dgnss]: Starting USB initialization
[component_container_mt-1] [ERROR] [1762030165.847042841] [ublox_dgnss]: usb init error: Serial string read failed (unexpected): LIBUSB_ERROR_INVALID_PARAM
[component_container_mt-1] [INFO] [1762030165.847072072] [ublox_dgnss]: Initiating shutdown ...

Changing the ID back to the default, 0x1ab, works immediately, both in the node and on the module.

What might I be doing wrong? Do you have a different suggestion for using two modules at the same time?

@hortovanyi In any case, your implementation works very well with one module! Thanks for the node!

[hortovanyi]

@markusschratter thank you :)

I've just pushed some new changes to help with configuring parameters differently for the X20P, F9P and F9R. You should notice now that the ack naks disappear and all ros2 parameters match the devices values when it starts.

Regarding the issue you mention, this is what I wasn't able to find a work around for, when I incorporated the X20P. There appears to be a Linux Kernel issue for the FTDI chips ... this idea might help you custom IDs for USB-to-UART. If it does please let me know.

The link has the open issue for this problem - had me stumped so I decided to just publish with the main USB interface working.

I just noticed when running lsusb -d 1546: -v that the main X20P doesnt use iSerial for the main interface just for X20P UART1|2 .. I havent investigated if it can be programmed the same as the F9P??

[markusschratter]

@hortovanyi Thanks for the information! I understand your issue. In my case, I found a workaround and changed the product_id in all parts.

See: markusschratter@3410e10.

It works, but the integration is not ideal since you define the different types with a specific product ID in https://github.com/aussierobots/ublox_dgnss/blob/main/ublox_dgnss_node/src/device_family.cpp.

Do you have a better idea for forwarding the ID to the USB connection?

[hortovanyi]

@markusschratter just to confirm you are using EVK-X20P? .. I notice sparkfun has a ZED-X20P breakout board but dont know if the issue is the same with it.

[markusschratter]

@markusschratter just to confirm you are using EVK-X20P? .. I notice sparkfun has a ZED-X20P breakout board but dont know if the issue is the same with it.

Dear @hortovanyi, I am using this module, which means I am connected directly to the USB pins: https://www.ardusimple.de/product/mpcie-u-blox-zed-x20p/.

[hortovanyi]

@markusschratter it seems strange that the X20P interface description dont publish the UBX msg out for USB but thats how I'm receiving messages as well