ROS2 NMEA Version

[daguzma7]

Describe the bug While gathering ROS parameters in ublox_gps/src/node.cpp the configuration for nmea does not include "version".

To Reproduce Checkout the ros2 branch. https://github.com/KumarRobotics/ublox/blob/ros2/ublox_gps/src/node.cpp#L389

Steps to reproduce the behavior:

1. Go to ublox_gps/src/node.cpp: Around ~389:

   // NMEA parameters
   this->declare_parameter("nmea.set", false);
   this->declare_parameter("nmea.compat", false);
   this->declare_parameter("nmea.consider", false);
   this->declare_parameter("nmea.limit82", false);
   this->declare_parameter("nmea.high_prec", false);
   this->declare_parameter("nmea.filter.pos", false);
   this->declare_parameter("nmea.filter.msk_pos", false);
   this->declare_parameter("nmea.filter.time", false);
   this->declare_parameter("nmea.filter.date", false);
   this->declare_parameter("nmea.filter.sbas", false);
   this->declare_parameter("nmea.filter.track", false);
   this->declare_parameter("nmea.filter.gps_only", false);
   this->declare_parameter("nmea.gnssToFilter.gps", false);
   this->declare_parameter("nmea.gnssToFilter.sbas", false);
   this->declare_parameter("nmea.gnssToFilter.qzss", false);
   this->declare_parameter("nmea.gnssToFilter.glonass", false);
   this->declare_parameter("nmea.gnssToFilter.beidou", false);

2. Add this to parameter file:

   nmea:
     set: false
     version: 65

Expected behavior I expect the version to be taken into consideration because it is required when nmea is set true.

Desktop (please complete the following information):

• OS: [Ubuntu 22.02 LTS]
• ROS Version [ROS2 Humble]

[LauBorch]

Same is valid for the two other parameters:

  this->declare_parameter("nmea.num_sv", 30);
  this->declare_parameter("nmea.sv_numbering", 1);