VN-110 SensorError: 8 on ROS2 Humble

[uah-crablab]

Problem:
-Sensor: VN-110-A (RS232 Version)
-Will connect and display 'Connected to', 'Model:', 'Firmware Version', 'Hardware version', and Serial Number:
-Subsequently shows ' SensorError: 8'
-Subsequently shows 'GPS initialization error'
-ROS2 Driver on Ubuntu 22.04 with ROS2 Humble
-Will try to reconnect
-Note: ROS2 Driver works fine with VN-100 IMU
-Note: ROS1 Driver works fine with VN-110-A IMU

[uah-crablab]

Got the solution. Setting gpsField and insField to GPSGROUP_NONE and INSGROUP_NONE for B01 in the config file fixed the issue. (It is more of a patchy solution, but works for me).

The config/vectornav.yaml file has the following for B01:
BO1:
asyncMode: 3 # ASYNCMODE_BOTH
rateDivisor: 40 # 20 Hz
commonField: 0x7FFF
timeField: 0x0000 # TIMEGROUP_NONE
imuField: 0x0000 # IMUGROUP_NONE
gpsField: 0x0000 # GPSGROUP_NONE
attitudeField: 0x0000 # ATTITUDEGROUP_NONE
insField: 0x0000 # INSGROUP_NONE
gps2Field: 0x0000 # GPSGROUP_NONE

Don't forget to power-cycle your IMU once you make the changes. Will still say SensorError:8 and GPSinitialization error, but topics will now appear.

I think part of the issue is associated with Line 677 in the ROS2 Driver code
if(vs_->determineDeviceFamily() != vn::sensors::VnSensor::VnSensor_Family_Vn100)

vs_->determineDeviceFamily() returns VnSensor_Family_Unknown, not VnSensor_Family_Vn100.