How do i debug RTK?

[Victorsoeby]

I am currently trying to setup RTK with the rover_node.launch.py file. I have changed the rover_node.yaml to look like this:

rtk_settings:
ntrip_1:
id: "NTR1"
caster: "eu.skylark.swiftnav.com"
caster_port: 2101
username: "SECRET_USERNAME"
password: "SECRET_PASSWORD"
mountpoint: "CRS"
version: "v2"
tls: false
fingerprint: ""
rtk_standard: "auto"
send_gga: "auto"
keep_open: true

I saw in this thread: #113, that i can check the mode in /pvtgeodetic, which gives me a 6. I am unsure if this means the RTK is correctly enabled.

When i take it outside i am getting a fix that is at my location, but it is quite jumpy leading me to believe that the RTK isn't being used correctly. Also i get no difference in either logs or the /pvtgeodetic mode when i purposely put my username or password wrong.

These are the logs i get when i run the node:

septentrio-driver | [INFO] [launch]: All log files can be found below /root/.ros/log/2024-08-08-13-21-08-329850-rock-4c-plus-27348
septentrio-driver | [INFO] [launch]: Default logging verbosity is set to INFO
septentrio-driver | [INFO] [septentrio_gnss_driver_node-1]: process started with pid [27392]
septentrio-driver | [INFO] [static_transform_publisher-2]: process started with pid [27394]
septentrio-driver | [INFO] [static_transform_publisher-3]: process started with pid [27396]
septentrio-driver | [INFO] [static_transform_publisher-4]: process started with pid [27398]
septentrio-driver | [INFO] [static_transform_publisher-5]: process started with pid [27401]
septentrio-driver | [static_transform_publisher-2] 1723123268.903047134: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments
septentrio-driver | [static_transform_publisher-5] 1723123268.999132348: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments
septentrio-driver | [static_transform_publisher-2] 1723123269.074845289: [static_transform_publisher_tkHrwZdWzvDWTVYx] [INFO] Spinning until stopped - publishing transform
septentrio-driver | [static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
septentrio-driver | [static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
septentrio-driver | [static_transform_publisher-2] from 'base_link' to 'imu'
septentrio-driver | [static_transform_publisher-3] 1723123269.086907128: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments
septentrio-driver | [static_transform_publisher-5] 1723123269.125299388: [static_transform_publisher_MqCNmNusSl3WFeY9] [INFO] Spinning until stopped - publishing transform
septentrio-driver | [static_transform_publisher-5] translation: ('0.000000', '0.000000', '0.000000')
septentrio-driver | [static_transform_publisher-5] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
septentrio-driver | [static_transform_publisher-5] from 'imu' to 'aux1'
septentrio-driver | [static_transform_publisher-4] 1723123269.128599337: [] [WARN] Old-style arguments are deprecated; see --help for new-style arguments
septentrio-driver | [static_transform_publisher-3] 1723123269.164739896: [static_transform_publisher_4YlDNmmHIB7F3qaw] [INFO] Spinning until stopped - publishing transform
septentrio-driver | [static_transform_publisher-3] translation: ('0.000000', '0.000000', '0.000000')
septentrio-driver | [static_transform_publisher-3] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
septentrio-driver | [static_transform_publisher-3] from 'imu' to 'gnss'
septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.200005791: [septentrio_gnss_driver] [INFO] Connecting to tcp://192.168.3.1:28784...
septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.202121285: [septentrio_gnss_driver] [INFO] Connected to 192.168.3.1:28784.
septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.221647101: [septentrio_gnss_driver] [INFO] The connection descriptor is IP10
septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.221851559: [septentrio_gnss_driver] [INFO] Setting up Rx.
septentrio-driver | [static_transform_publisher-4] 1723123269.245323948: [static_transform_publisher_kRdgEX7ZXWaM8xZQ] [INFO] Spinning until stopped - publishing transform
septentrio-driver | [static_transform_publisher-4] translation: ('0.000000', '0.000000', '0.000000')
septentrio-driver | [static_transform_publisher-4] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
septentrio-driver | [static_transform_publisher-4] from 'imu' to 'vsm'
septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.550120539: [septentrio_gnss_driver] [ERROR] Invalid command just sent to the Rx! The Rx's response contains 62 bytes and reads:
septentrio-driver | [septentrio_gnss_driver_node-1] $R? setAntennaOffset: Tabular argument 'Antenna' is invalid!
septentrio-driver | [septentrio_gnss_driver_node-1]
septentrio-driver | [septentrio_gnss_driver_node-1] 1723123269.739602975: [septentrio_gnss_driver] [WARN] Multi antenna requested but Rx does not support it.
septentrio-driver | [septentrio_gnss_driver_node-1] 1723123270.686877777: [septentrio_gnss_driver] [INFO] Setup complete.

[thomasemter]

Mode 6 in pvtgeodetic means SBAS, which is not RTK. This means your RTK corrections do not work as you already suspect.

Your data might be incorrect: when connection to eu.skylark.swiftnav.com I can see no mountpoint CRS.

For debugging, you may enter your data via the web GUI and see if it is correct.