fix: for protocol version >= 18

Author: Muhammad540

ublox_gps/src/node.cpp

@@ -229,11 +229,11 @@ void UbloxNode::addProductInterface(const std::string & product_category,
     components_.push_back(std::make_shared<TimProduct>(frame_id_, updater_, this));
   } else if (product_category == "ADR" ||
              product_category == "UDR") {
-    components_.push_back(std::make_shared<AdrUdrProduct>(nav_rate_, meas_rate_, frame_id_, updater_, this));
+    components_.push_back(std::make_shared<AdrUdrProduct>(protocol_version_, nav_rate_, meas_rate_, frame_id_, updater_, this));
   } else if (product_category == "FTS") {
     components_.push_back(std::make_shared<FtsProduct>());
   } else if (product_category == "HPS") {
-    components_.push_back(std::make_shared<AdrUdrProduct>(nav_rate_, meas_rate_, frame_id_, updater_, this));
+    components_.push_back(std::make_shared<AdrUdrProduct>(protocol_version_, nav_rate_, meas_rate_, frame_id_, updater_, this));
     components_.push_back(std::make_shared<HpgRovProduct>(nav_rate_, updater_, this));
   } else {
     RCLCPP_WARN(this->get_logger(), "Product category %s %s from MonVER message not recognized %s",
@@ -772,7 +772,7 @@ bool UbloxNode::configureUblox() {
                                   " SBAS.");
         }
       }
-      if (!gps_->setPpp(getRosBoolean(this, "enable_ppp"))) {
+      if (!gps_->setPpp(getRosBoolean(this, "enable_ppp"), protocol_version_)) {
         throw std::runtime_error(std::string("Failed to ") +
                                 (getRosBoolean(this, "enable_ppp") ? "enable" : "disable")
                                 + " PPP.");