Add support for 9th gen ZED-series ADR/UDR products #270
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* Add missing include directory directives in `ublox_gps/CMakeLists.txt` for ublox_msgs and ublox_serialization packages * Add ROSIDL cmake interface agnosticity between older and newer ROS2 distros in `ublox_msgs/CMakeLists.txt` * Fix satellite fix status classification in `ublox_gps/src/hpg_dr_product.cpp` * Add missing debug publisher for NavHPPOSLLH
feuillatte
changed the title
added 2 commits
November 2, 2025 23:41
…init order of AdrUdr constructor
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Add special logic to
ublox_gps_nodenode.cppproduct recognition for ZED-F9R/K/L product model ids to classify them as ADR/UDR products instead of High-Precision ground station related products (like the ZED-F9P). This solves the current problem of awkwardly combining ADR/UDR + HPGRov without the full functionality.Add
ublox_msgssupport forNavHPPOSLLHandNavHPPOSECEFModify
ublox_msgCMakeLists.txt to support both newer and older ROS2 message generator CMake helpersExtend
ublox_gpsublox_node::AdrUdrProductto:sensor_msgs::msg::NavSatFIxfor NavPOSLLH if high precision is supported according to the abovementioned logicdiagnostic_msgs::msg::DiagnosticSTatusfor sensor fusion diagnostics ifEsfSTATUSis enabledsensor_msgs::msg::TemperatureIMU temp messages ifEsfRAWorEsfMEASis enabledsensor_msgs::msg::ImuforEsfRAWdata ifEsfRAWis enabledsensor_msgs::msg::Imuwith sensor fusion orientation ifNavATTis enabledsensor_msgs::msg::Imuwith sensor fusion kinematics ifEsfINSis enabledRemove dead code relating to time reference information in
ublox_gpsublox_node::AdrUdrProductResolve "zed-f9r" heading accuracy issue #234
Resolve How to obtain ZED-F9R ROS driver output RAW IMU data? #171
Resolve Issues publishing ZED-F9R IMU Messages #149
Resolve ZED-F9R #144
Resolve F9K Data acquisition #133
Resolve Can i get the raw imu date from f9k? #102