# Witmotion GPS processing is tested on the real device, decoding bug fixed

**URL:** <https://discourse.openrobotics.org/t/witmotion-gps-processing-is-tested-on-the-real-device-decoding-bug-fixed/32859>\
**Category:** Projects\
**Created:** [August 14, 2023, 8:48am UTC](https://discourse.openrobotics.org/t/witmotion-gps-processing-is-tested-on-the-real-device-decoding-bug-fixed/32859 "2023-08-14T08:48:54Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![twdragon](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/twdragon/32/4772_2.png) [@twdragon](https://discourse.openrobotics.org/u/twdragon)\
**Post date:** [August 14, 2023, 8:48am UTC](https://discourse.openrobotics.org/t/witmotion-gps-processing-is-tested-on-the-real-device-decoding-bug-fixed/32859/1 "2023-08-14T08:48:54Z")

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Hello everyone here!  
With the great help of @joewong00, now we have tested and fixed the Witmotion protocol decoders from [`witmotion_ros`](https://github.com/ElettraSciComp/witmotion_IMU_ros) driver on real Witmotion [**WTGAHRS1 TTL 10-axis enclosed IMU/Magnetometer/Barometer/Inclinometer/GPS receiver**](https://www.wit-motion.com/inertial-navigation/witmotion-wtgahrs1-10-axis-gps.html). ROS 1 version is released now for `noetic`, but the ROS2 release is still WIP. The revealed bug in the decoder routine is fixed, and the GPS processing pipeline is considered from now ready for production.

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