Update NMEA support #128
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Update NMEA support #128
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u-blox is expected to provide support for sending more granular information to FCU compared to NMEA
…essage is no longer used
…EA deprecation and introduction of u-blox support
…cerns and align with existing architecture
Still relies on ublox_msgs from the ROS index.
Currently NMEA works and UBX does not so makes sense to have it as default
Middleware should not depend on the simulation service, socat should still work even if no one is listening at the other end
These services use the socat bridge for outgoing communication only which means the port does not need to be exposed
…comms Ideally we would not hard code the PTY path here but based on testing the /dev/pts/1 port should be the one that socat allocates for bridging incoming communication from TCP port 15000
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Updates the downstream integration so that we are not dependent on autopilot specific middleware or modifications (e.g. the micro-ROS bridge requires us to enable receiving the
px4_msgs/SensorGpsmessage on the autopilot firmware side). Using NMEA also removes dependency onpx4_msgswhich makes packaging and distribution easier sincepx4_msgsdoes not seem to be available in the ROS package index.Also adds UBX support which most likely does not work yet.