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Merged
flipflip8952 merged 3 commits into from
Oct 20, 2025
Merged

Update SDK #93

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fd70f69
update fixposition SDK
flipflip8952 May 6, 2025
efc3473
fix
flipflip8952 Oct 20, 2025
192220b
fix
flipflip8952 Oct 20, 2025
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2 changes: 1 addition & 1 deletion fixposition-sdk
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Submodule fixposition-sdk updated 123 files
4 changes: 2 additions & 2 deletions fixposition_driver_lib/src/helper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -304,8 +304,8 @@ NmeaEpochData NmeaEpochData::CompleteAndReset() {
else if (rmc_.time.valid) { time_ = rmc_.time; }
else if (zda_.time.valid) { time_ = zda_.time; }
if (gga_.llh.latlon_valid) { llh_ = gga_.llh; }
else if (rmc_.llh.latlon_valid) { llh_ = rmc_.llh; }
else if (gll_.ll.latlon_valid) { llh_ = gll_.ll; } // last as it does not have height
else if (rmc_.ll.latlon_valid) { llh_ = rmc_.ll; }
else if (gll_.ll.latlon_valid) { llh_ = gll_.ll; } // last as it does not have height
// clang-format on

status_ = (gll_.status > rmc_.status ? gll_.status : rmc_.status);
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2 changes: 2 additions & 0 deletions fixposition_driver_msgs/include/fixposition_driver_msgs/data_to_ros.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -617,6 +617,8 @@ inline int NmeaSignalIdToMsg(const RosMsgT& msg, const fpsdk::common::parser::nm
case fpsdk::common::parser::nmea::NmeaSignalId::GAL_E1: return msg.consts.SIGNAL_ID_GAL_E1;
case fpsdk::common::parser::nmea::NmeaSignalId::GAL_E5A: return msg.consts.SIGNAL_ID_GAL_E5A;
case fpsdk::common::parser::nmea::NmeaSignalId::GAL_E5B: return msg.consts.SIGNAL_ID_GAL_E5B;
case fpsdk::common::parser::nmea::NmeaSignalId::GAL_E6BC: return msg.consts.SIGNAL_ID_GAL_E5B;
case fpsdk::common::parser::nmea::NmeaSignalId::GAL_E6A: return msg.consts.SIGNAL_ID_GAL_E5B;
case fpsdk::common::parser::nmea::NmeaSignalId::BDS_B1ID: return msg.consts.SIGNAL_ID_BDS_B1ID;
case fpsdk::common::parser::nmea::NmeaSignalId::BDS_B2ID: return msg.consts.SIGNAL_ID_BDS_B2ID;
case fpsdk::common::parser::nmea::NmeaSignalId::BDS_B1C: return msg.consts.SIGNAL_ID_BDS_B1C;
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2 changes: 2 additions & 0 deletions fixposition_driver_msgs/msg/NmeaConsts.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -90,6 +90,8 @@ int8 SIGNAL_ID_GPS_L5Q = 15 # GPS L5 Q
int8 SIGNAL_ID_GAL_E1 = 31 # Galileo E1
int8 SIGNAL_ID_GAL_E5A = 32 # Galileo E5 A
int8 SIGNAL_ID_GAL_E5B = 33 # Galileo E5 B
int8 SIGNAL_ID_GAL_E6BC = 34 # Galileo E6 B/C
int8 SIGNAL_ID_GAL_E6A = 35 # Galileo E6 A
int8 SIGNAL_ID_BDS_B1ID = 41 # BeiDou B1I D
int8 SIGNAL_ID_BDS_B2ID = 42 # BeiDou B2I D
int8 SIGNAL_ID_BDS_B1C = 43 # BeiDou B1 C
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24 changes: 12 additions & 12 deletions fixposition_driver_ros1/src/data_to_ros1.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -509,7 +509,7 @@ bool PublishNovbInspvax(const novb::NovbHeader* header, const novb::NovbInspvax*
void PublishNmeaGga(const fpsdk::common::parser::nmea::NmeaGgaPayload& payload, ros::Publisher& pub) {
if (pub.getNumSubscribers() > 0) {
fixposition_driver_msgs::NmeaGga msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
if (payload.time.valid) {
msg.time_valid = true;
msg.time_h = payload.time.hours;
Expand All @@ -533,7 +533,7 @@ void PublishNmeaGga(const fpsdk::common::parser::nmea::NmeaGgaPayload& payload,
void PublishNmeaGll(const fpsdk::common::parser::nmea::NmeaGllPayload& payload, ros::Publisher& pub) {
if (pub.getNumSubscribers() > 0) {
fixposition_driver_msgs::NmeaGll msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
if (payload.time.valid) {
msg.time_valid = true;
msg.time_h = payload.time.hours;
Expand All @@ -553,7 +553,7 @@ void PublishNmeaGll(const fpsdk::common::parser::nmea::NmeaGllPayload& payload,
void PublishNmeaGsa(const fpsdk::common::parser::nmea::NmeaGsaPayload& payload, ros::Publisher& pub) {
if (pub.getNumSubscribers() > 0) {
fixposition_driver_msgs::NmeaGsa msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
msg.system = NmeaSystemIdToMsg(msg, payload.system);
msg.opmode = NmeaOpModeGsaToMsg(msg, payload.opmode);
msg.navmode = NmeaNavModeGsaToMsg(msg, payload.navmode);
Expand All @@ -574,7 +574,7 @@ void PublishNmeaGsa(const fpsdk::common::parser::nmea::NmeaGsaPayload& payload,
void PublishNmeaGst(const fpsdk::common::parser::nmea::NmeaGstPayload& payload, ros::Publisher& pub) {
if (pub.getNumSubscribers() > 0) {
fixposition_driver_msgs::NmeaGst msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
if (payload.time.valid) {
msg.time_valid = true;
msg.time_h = payload.time.hours;
Expand All @@ -596,8 +596,8 @@ void PublishNmeaGst(const fpsdk::common::parser::nmea::NmeaGstPayload& payload,
void PublishNmeaGsv(const fpsdk::common::parser::nmea::NmeaGsvPayload& payload, ros::Publisher& pub) {
if (pub.getNumSubscribers() > 0) {
fixposition_driver_msgs::NmeaGsv msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
msg.system = NmeaSystemIdToMsg(msg, payload.system);
msg.signal = NmeaSignalIdToMsg(msg, payload.signal);
msg.num_msgs = payload.num_msgs.value;
Expand All @@ -624,7 +624,7 @@ void PublishNmeaGsv(const fpsdk::common::parser::nmea::NmeaGsvPayload& payload,
void PublishNmeaHdt(const fpsdk::common::parser::nmea::NmeaHdtPayload& payload, ros::Publisher& pub) {
if (pub.getNumSubscribers() > 0) {
fixposition_driver_msgs::NmeaHdt msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
msg.heading = (payload.heading.valid ? payload.heading.value : NAN);
pub.publish(msg);
}
Expand All @@ -635,7 +635,7 @@ void PublishNmeaHdt(const fpsdk::common::parser::nmea::NmeaHdtPayload& payload,
void PublishNmeaRmc(const fpsdk::common::parser::nmea::NmeaRmcPayload& payload, ros::Publisher& pub) {
if (pub.getNumSubscribers() > 0) {
fixposition_driver_msgs::NmeaRmc msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
if (payload.date.valid) {
msg.date_valid = true;
msg.date_y = payload.date.years;
Expand All @@ -651,8 +651,8 @@ void PublishNmeaRmc(const fpsdk::common::parser::nmea::NmeaRmcPayload& payload,
msg.status = NmeaStatusGllRmcToMsg(msg, payload.status);
msg.mode = NmeaModeRmcGnsToMsg(msg, payload.mode);
msg.navstatus = NmeaNavStatusRmcToMsg(msg, payload.navstatus);
msg.latitude = (payload.llh.latlon_valid ? payload.llh.lat : NAN);
msg.longitude = (payload.llh.latlon_valid ? payload.llh.lon : NAN);
msg.latitude = (payload.ll.latlon_valid ? payload.ll.lat : NAN);
msg.longitude = (payload.ll.latlon_valid ? payload.ll.lon : NAN);
msg.speed = (payload.speed.valid ? payload.speed.value : NAN);
msg.course = (payload.course.valid ? payload.course.value : NAN);
pub.publish(msg);
Expand All @@ -664,7 +664,7 @@ void PublishNmeaRmc(const fpsdk::common::parser::nmea::NmeaRmcPayload& payload,
void PublishNmeaVtg(const fpsdk::common::parser::nmea::NmeaVtgPayload& payload, ros::Publisher& pub) {
if (pub.getNumSubscribers() > 0) {
fixposition_driver_msgs::NmeaVtg msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
msg.cogt = (payload.cogt.valid ? payload.cogt.value : NAN);
msg.cogm = (payload.cogm.valid ? payload.cogm.value : NAN);
msg.sogn = (payload.sogn.valid ? payload.sogn.value : NAN);
Expand All @@ -679,7 +679,7 @@ void PublishNmeaVtg(const fpsdk::common::parser::nmea::NmeaVtgPayload& payload,
void PublishNmeaZda(const fpsdk::common::parser::nmea::NmeaZdaPayload& payload, ros::Publisher& pub) {
if (pub.getNumSubscribers() > 0) {
fixposition_driver_msgs::NmeaZda msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
if (payload.date.valid) {
msg.date_valid = true;
msg.date_y = payload.date.years;
Expand Down
24 changes: 12 additions & 12 deletions fixposition_driver_ros2/src/data_to_ros2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -520,7 +520,7 @@ void PublishNmeaGga(const fpsdk::common::parser::nmea::NmeaGgaPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaGga>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaGga msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
if (payload.time.valid) {
msg.time_valid = true;
msg.time_h = payload.time.hours;
Expand All @@ -545,7 +545,7 @@ void PublishNmeaGll(const fpsdk::common::parser::nmea::NmeaGllPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaGll>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaGll msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
if (payload.time.valid) {
msg.time_valid = true;
msg.time_h = payload.time.hours;
Expand All @@ -566,7 +566,7 @@ void PublishNmeaGsa(const fpsdk::common::parser::nmea::NmeaGsaPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaGsa>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaGsa msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
msg.system = NmeaSystemIdToMsg(msg, payload.system);
msg.opmode = NmeaOpModeGsaToMsg(msg, payload.opmode);
msg.navmode = NmeaNavModeGsaToMsg(msg, payload.navmode);
Expand All @@ -588,7 +588,7 @@ void PublishNmeaGst(const fpsdk::common::parser::nmea::NmeaGstPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaGst>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaGst msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
if (payload.time.valid) {
msg.time_valid = true;
msg.time_h = payload.time.hours;
Expand All @@ -611,8 +611,8 @@ void PublishNmeaGsv(const fpsdk::common::parser::nmea::NmeaGsvPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaGsv>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaGsv msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
msg.system = NmeaSystemIdToMsg(msg, payload.system);
msg.signal = NmeaSignalIdToMsg(msg, payload.signal);
msg.num_msgs = payload.num_msgs.value;
Expand Down Expand Up @@ -640,7 +640,7 @@ void PublishNmeaHdt(const fpsdk::common::parser::nmea::NmeaHdtPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaHdt>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaHdt msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
msg.heading = (payload.heading.valid ? payload.heading.value : NAN);
pub->publish(msg);
}
Expand All @@ -652,7 +652,7 @@ void PublishNmeaRmc(const fpsdk::common::parser::nmea::NmeaRmcPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaRmc>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaRmc msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
if (payload.date.valid) {
msg.date_valid = true;
msg.date_y = payload.date.years;
Expand All @@ -668,8 +668,8 @@ void PublishNmeaRmc(const fpsdk::common::parser::nmea::NmeaRmcPayload& payload,
msg.status = NmeaStatusGllRmcToMsg(msg, payload.status);
msg.mode = NmeaModeRmcGnsToMsg(msg, payload.mode);
msg.navstatus = NmeaNavStatusRmcToMsg(msg, payload.navstatus);
msg.latitude = (payload.llh.latlon_valid ? payload.llh.lat : NAN);
msg.longitude = (payload.llh.latlon_valid ? payload.llh.lon : NAN);
msg.latitude = (payload.ll.latlon_valid ? payload.ll.lat : NAN);
msg.longitude = (payload.ll.latlon_valid ? payload.ll.lon : NAN);
msg.speed = (payload.speed.valid ? payload.speed.value : NAN);
msg.course = (payload.course.valid ? payload.course.value : NAN);
pub->publish(msg);
Expand All @@ -682,7 +682,7 @@ void PublishNmeaVtg(const fpsdk::common::parser::nmea::NmeaVtgPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaVtg>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaVtg msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
msg.cogt = (payload.cogt.valid ? payload.cogt.value : NAN);
msg.cogm = (payload.cogm.valid ? payload.cogm.value : NAN);
msg.sogn = (payload.sogn.valid ? payload.sogn.value : NAN);
Expand All @@ -698,7 +698,7 @@ void PublishNmeaZda(const fpsdk::common::parser::nmea::NmeaZdaPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaZda>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaZda msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
if (payload.date.valid) {
msg.date_valid = true;
msg.date_y = payload.date.years;
Expand Down
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