ROS 1 & 2 Driver v1.4.1

• Fixes
  • Lever arm calculation from tf
  • NavSatStatus and GPSFixStatus
  • Orientation in pose topic of GNSS

ROS 1 & 2 Driver v1.4.0

• New features
  • Send custom commands via ASCII file on startup
  • Save config to boot after setup
  • NTP and PTP server options (BREAKING: NTP is not setup automatically for use_gnss_time: true anymore)
  • Receiver status on /diagnostics
  • Option to publish only valid SBF block messages
  • Option to auto publish available messages for configure_rx: false
• Changes
  • Change floating point do-not-use-values to NaN (BREAKING in case these values ae used for validity checks downstream)
  • VSM now uses separate TCP device specified IP server
• Improvements
  • Rework some sections of the README
  • Combine ROS 1 and ROS 2 in one branch
  • Change GPSFix publishing policy to allow for high update rates

ROS 1 & 2 Driver v1.3.2

• Fixes

  Fix IMU units
  Fix topics namespace
  Fix units of imu angular rates

ROS 1 & 2 Driver v1.3.1

• New Features

  Recovery from connection interruption

  Add option to bypass configuration of Rx

  Add tests

  OSNMA

  Latency compensation for ROS timestamps

  Output of SBf block VelCovCartesian

  Support for UDP and TCP via IP server

  New VSM handling allows for unknown variances (INS firmware >= 1.4.1)

  Add heading angle to GPSFix msg (by diverting dip field, cf. readme)

• Improvements

  Rework IO core and message handling

  • Unified stream processing
  • Internal data queue
  • Prevent message loss in file reading

  Add some explanatory warnings for parameter mismatches

  Add units to message definitions

• Fixes

  navsatfix for INS

  Empty headers

  Single antenna receiver setup

• Preliminary Features

  Output of localization and tf in ECEF frame, testing and feedback welcome

ROS 1 & 2 Driver v1.2.3

• New Features

  Twist output option

  Example config files for GNSS and INS

  Get leap seconds from receiver

  Firmware check

  VSM from odometry or twist ROS messages

  Add receiver type in case INS is used in GNSS mode

  Add publishing of base vector topics

• Improvements

  Rework RTK corrections parameters and improve flexibility

• Fixes

  /tf not being published without /localization

  Twist covariance matrix of localization

  Support 5 ms period for IMU explicitly

ROS 2 Driver v1.2.2

• Fixes

  Memory corruption under adverse conditions

ROS 1 Driver v1.1.2

• Fixes

  Memory corruption under adverse conditions

ROS 2 Driver v1.2.1

• New Features
  Add login credentials
  Activate NTP server if use_gnss_time is set to true

• Improvements
  Add NED option to localization

• Fixes
  IMU orientation for ROS axis convention

• New Distributions
  ROS 2 Rolling and ROS 2 Humble

ROS 1 Driver v1.1.1

• New Features
  Add login credentials
  Activate NTP server if use_gnss_time is set to true

• Improvements
  Add NED option to localization

• Fixes
  IMU orientation for ROS axis convention

ROS 2 Driver

• New Features

  Add option to use ROS axis orientations according to REP103

  Add frame_id parameters

  Add option to get frames from tf

  Publishing of cartesian localization in UTM (topic and/or tf) for INS

  Publishing of IMU topic for INS

  Publishing of MeasEpoch