Adds node that outputs NMEA in attempt to make downstream integration independent of autopilot internals.
NMEANode writes into a serial port, so a Makefile target is provided that creates a virtual serial port and bridges the traffic to a TCP port on the px4 simulation container
Renames old mock GPS node to UORBNode - this is still kept as the default downstream integration until the NMEA support is better tested. The old px4_msgs/SensorGps message still allows for more granular control over what kind of data goes to the FCU on PX4.
Output protocol can now be chosen via a launch argument, e.g. ros2 launch gisnav default.launch.py protocol:=nmea.
Related documentation updates under construction on the unmerged vitepress branch.
NMEANode
writes into a serial port, so a Makefile target is provided that creates a virtual serial port and bridges the traffic to a TCP port on thepx4
simulation containerUORBNode
- this is still kept as the default downstream integration until the NMEA support is better tested. The oldpx4_msgs/SensorGps
message still allows for more granular control over what kind of data goes to the FCU on PX4.ros2 launch gisnav default.launch.py protocol:=nmea
.vitepress
branch.