Closed droter closed 2 years ago
Agreed I would like to see STATUS_RTK_FIX and STATUS_FLOAT_FIX (STATUS_FLT_FIX) as well.
+1 on including RTK fix and float status. Related question on ROS answers: https://answers.ros.org/question/377120/how-to-differentiate-float-vs-fix-status-in-an-rtk-system/
I would also be in favor of being able to distinguish between Differential, RTK-Float and RTK-Fix status. The current NavSatStatus
does not provide enough level of detail.
@tfoote I am very much in favor of this extension, but how can this proposal be incorporated into this package? Since the new ros1 distribution is no longer being released, is there anything more to change?
ros-drivers/nmea_navsat_driver distinguishes RTK FIX or not by covariance, but I think it is inappropriate because covariance depends on environment, etc.
To push this forward please make a proposal on the new repo for ROS 2 https://github.com/ros2/common_interfaces We can target it into rolling and then it will get into future distributions.
Over there we'll want to see a discussion of what you'd like to change with examples of how it will be used and showing the improved performance. As well as consideration for how this will effect current users and any migration requirements necessary.
The related discussion is here: https://github.com/ros2/common_interfaces/pull/220 .
Would there be any interest in extending the NavSatStatus message to include a quality status? Right now it isn't easy to see what type of position quality you have.
Proposed extension:
NMEA-183 GGA Sentence https://www.trimble.com/OEM_ReceiverHelp/V4.44/en/NMEA-0183messages_GGA.html