8.0.2

What's Changed

• Nav2 TF tree update by @fgarciacardenas in #82

• Added odometry_enu_smooth topic

• Changed frame_id of ODOMSH-ENU

• Increased delay warning

• Added TF warning

Full Changelog: 8.0.1...8.0.2

8.0.1

What's Changed

• Added QoS to ROS2 by @fgarciacardenas in #81

Full Changelog: 8.0.0...8.0.1

8.0.0

Full rework of the ROS driver!

Introduction
The Fixposition ROS Driver underwent a significant overhaul since tag 8.0.0, which breaks compatibility with previous tags of the driver. The installation procedure has changed significantly and is documented in Installation and usage. We recommend all users to migrate to the new version.

The user can always access the previous version of the ROS driver by switching to tag 7.0.7. The corresponding documentation for this release is available in (DEPRECATED) Installation and usage. To switch to the previous version, simply execute the command git checkout 7.0.7.

Motivation
This reworked version includes new messages (such as NOV_B-INSPVAX and the Fusion Epoch Collector), as well as the possibility of supporting any new messages with little effort. In addition, it completely reworked how messages are received and processed from the sensor, ensuring a faster and safer communication.

It’s worth noting that, despite improving the behavior of the ROS node and the corresponding topic, the names remain intact and the user shouldn’t perform any changes outside the driver to support the new version. On top of that, we updated the TF tree, completely changed the configuration YAML file (e.g., serial/tcp both use the same launch file, just need to change the connection type in the yaml), and moved the odometry converters inside the ROS driver, so only one node is required.

Further steps
For more information on how to migrate from the previous driver version, please refer to: Migration Guide.

7.0.7

Full Changelog: 7.0.6...7.0.7

7.0.6

What's Changed

• Add missing covariance initialization by @jwahlen64 in #74
• Fixed TCP/UART message handling by @fgarciacardenas in #75

Full Changelog: 7.0.5...7.0.6

7.0.5

Temporary fix for the TCP delay (#73)

Co-authored-by: Facundo Garcia <[email protected]>

7.0.4

What's Changed

• Reworked ASCII parser to enable UART communication.
• Added Nav2 support.

Full Changelog: 7.0.3...7.0.4

7.0.3

What's Changed

1. Updated repository to be compatible with the new VRTK2 software.
2. Added support for the following messages:

• FP_A-TP
• FP_A-EOE
• FP_A-IMUBIAS
• FP_A-ODOMSTATUS

3. Added an optional warning to notify the user when the sensor experiences a jump bigger than the previously estimated covariance.
4. Updated documentation.
5. Corrected ODOMSH frame id by @fgarciacardenas in #70
6. Removed bug in odom_llh when Fusion is not initialized by @fgarciacardenas in #67

Full Changelog: 7.0.2...7.0.3

7.0.2

What's Changed

• Fixed invalid TF check by @fixposition-support in #66

Full Changelog: 7.0.1...7.0.2

7.0.1

What's Changed

• Changed LLH output frame ID to FP_POI instead of FP_ECEF.
• Patched wrong import in ROS2 odometry converter.
• Removed GNSS TF lib dependency.
• Updated README.
• Improved Doxygen.

Full Changelog: 7.0.0...7.0.1