Very Low publish rate for Novatel Propak 6 with RTK enabled on ROS Melodic

[hangcui1201]

Hello,

Our team is using Novatel Propak 6 with RTK correction service from Hexagon SmartNet. After enable the RTK correction service, the computed solution became "NARROW_INT". However, the publish rate also became pretty low, around 2.

The message I got is
[WARN] [xxxx.xxxx]: publish rate failures detected <Novatel GPS (192.168.74.10:2000)>: 2>

Is there any way to improve this?

Thank you very much!

Best,
Hang

[danthony06]

I don't have a Propak 6 to test with. I'm not sure if someone with more experience with these devices might have some ideas on how to troubleshoot this.

[JWhitleyWork]

@hangcui1201 Are you using binary messages? If not, this could be your issue as ASCII message processing slows down message rates significantly.