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