Common Issues

Solutions for frequently encountered problems.

GPS Issues

No GPS Fix

Symptoms: Position shows NaN or doesn’t update

Solutions:

  1. Ensure clear sky view

  2. Wait 2-3 minutes for cold start

  3. Check antenna connection

  4. Verify device detected: ls /dev/ttyUSB*

RTK Not Converging

Symptoms: RTK status stays “Float” or “None”

Solutions:

  1. Check base station connection

  2. Verify NTRIP credentials

  3. Ensure baseline < 10 km

  4. Wait up to 5 minutes for convergence

LIDAR Issues

No Point Cloud Data

Symptoms: Empty scan array

Solutions:

  1. Check Ethernet cable

  2. Verify IP configuration

  3. Allow UDP port: sudo ufw allow 2368/udp

  4. Ping LIDAR: ping 192.168.1.201

Sparse Point Cloud

Symptoms: Fewer points than expected

Solutions:

  1. Check for obstructions

  2. Clean sensor lens

  3. Verify rotation is active

Control Issues

Vehicle Doesn’t Move

Solutions:

  1. Check drive mode is “D”

  2. Verify emergency stop released

  3. Check Teensy connection

  4. Review throttle commands in logs

Steering Oscillation

Solutions:

  1. Increase min_lookahead

  2. Decrease K_dd gain

  3. Check for GPS noise

Software Issues

Import Errors

Solutions:

  1. Verify virtual environment active

  2. Reinstall dependencies

  3. Check Python version