Feature/driver rework #62

fgarciacardenas · 2024-07-04T13:21:04Z

ROS driver rework commit.

Some of the changes included are:

Support for all FP_A-* messages on the ROS driver.
Support for all NMEA-* messages on the ROS driver.
NMEA message collector that outputs the combined information once per GNSS epoch. This message helps obtain an overall view of the GNSS performance and sensor statistics.
Support for RTCM3 message input ('/fixposition/rtcm' topic).
Improved ROS2 Quality of Service settings (QoS).
Reduced queue size in ROS1 and ROS2 to prioritize incoming messages.
Reworked TF tree.
Fixed bugs related to NaNs and zero outputs.
Support for empty fields in the I/O messages.
Several patch fixes and performance improvements.
Improved readability.

…ified the TF tree, and solved several bugs in the LLH message.

Facundo Garcia added 21 commits May 31, 2024 15:26

Reworked the ROS driver to include ODOMSH and ODOMENU messages, simpl…

963c7b0

…ified the TF tree, and solved several bugs in the LLH message.

Reworked ROS2 driver

ce23ab0

Solved comments

1c635a0

Fixposition Lib working

0981782

ROS1 driver fully operational

e60f5f9

Fully operation ROS2 driver

55ab30c

All Messages

79e308b

Added support for all messages in ROS1

41df1db

Working ROS2 driver

03e2d5d

Added constructors

423607b

Working RTCM streamer

8798e12

Missing dependency

63ab09c

Working RTCM subscriber in ROS2 driver

8f1bd8b

Improve imports

90ebd66

Improve NMEA message with all NMEA topics

64463c3

Added ROS1 and ROS2 support for generic NMEA message

a669341

Working ROS1 and ROS2 nmea implementation

09d9b97

Improved NMEA collector

6445386

Improved ROS QoS settings

935054a

Updated documentation

a3be937

Fixed parent for ENU and ODOMSH topics

21b90e6

fgarciacardenas merged commit 0a1e54e into main Jul 29, 2024
3 of 4 checks passed

fgarciacardenas deleted the feature/driver-rework branch July 29, 2024 11:36

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