updates as requested #5
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The driver is now configured using standard ROS parameters. If a ROS topic is provided via the "rtcm" parameter, Strings on this topic will be passed to the device as RTCM corrections (packet ID 55).
Yaw has been corrected to conform with REP 103. ros-drivers#3 RTCM corrections can be passed from a topic (as Strings). A UTM-based transform can be generated.
added instructions for RTCM and TF usage, notification of REP 103 compliance
I changed the parameter names again. I added a note about the new Odometry feature.
I'm trying to standardize the parameter names (to be more like Robotnik's). I added Odometry message output if utm_zone is provided.
Even at only 20 Hz, the driver always consumed 100% CPU time. I found that it was polling without any delay/throttling. I configured the Linux version of OpenComport() for blocking reads. CPU time dropped to 5%.
I added a note about blocking serial port reads for Linux.
Rather than specify topic and frame names using parameters, I named them relative to the current namespace.
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The The ROS documentation for odometry messages [2] states: "The twist in this message should be specified in the coordinate frame given by the child_frame_id." The [1] http://wiki.ros.org/robot_localization P.S. I wanted to create an issue on this on the fork of @kylerlaird , but issues are disabled on that forked repository. |
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