Incorrect tf in GPS message

[RobinBaruffa]

Hi, I discovered an issue in the construction of the GPS message.

In the createRosNavSatFixMessage function, the header is set using the createRosHeader function, which sets it to frame_id_.

sbg_ros2_driver/src/message_wrapper.cpp

Line 60 in 196136d

const std_msgs::msg::Header MessageWrapper::createRosHeader(uint32_t device_timestamp) const

But the SDK documentation mentions that ref_sbg_log.gpsPosData is the coordinates expressed in the gps antenna 2 frame.
https://github.com/SBG-Systems/sbgECom/blob/80b121c7714083cc4868c0fdb8c41623c7ef9c93/src/logs/sbgEComLog.c#L112

I temporarly hard set it to my gps_antenna_2 tf and it fixed my issue.

Have a nice day,
Robin

[RobinBaruffa]

Since the sbg driver does not know the ROS2 tf name of the antenna set by the user, it would be great to perform the transform from GPS_ANTENNA_2 to the imu frame and then publish the gps msg in the imu frame of reference.

[tolesam]

Hello @RobinBaruffa ,

Thank you for your detailed feedback and for pointing this out.
We will investigate this behavior to better understand the frame reference used in the GPS message and ensure it is consistent with the SDK documentation and ROS2 conventions.

We’ll provide an update once we have clarified or adjusted the implementation accordingly.

Best regards,
Samuel