Feature
Currently, using a ublox gps is done through a dedicated node.
I think it would be useful to be able to have the option of using it with ros2 control via a hardware interface.
hardware interfaces offer a couple of advantages:
- they are services
- they have a well defined lifecycle (configure, activate, deactivate, cleanup, shutdown)
- they can be restarted at runtime without needing to re-launch the entire node
- enforces separation between reading the data & publishing the data
- source of truth is the URDF rather than relying on YAML configuration
- adjust the publish rate in controller manager
- makes it easier to simulate in gazebo
Describe alternatives you've considered
Not adding a hardware interface.
Additional context
Currently, ros2 control offers a basic GPS Sensor Broadcaster.
However, I believe it would be better to implement your own controller in order to publish all the custom message types.
I am also willing to help contribute these changes if this is something you're interested in
Feature
Currently, using a ublox gps is done through a dedicated node.
I think it would be useful to be able to have the option of using it with ros2 control via a hardware interface.
hardware interfaces offer a couple of advantages:
Describe alternatives you've considered
Not adding a hardware interface.
Additional context
Currently, ros2 control offers a basic GPS Sensor Broadcaster.
However, I believe it would be better to implement your own controller in order to publish all the custom message types.
I am also willing to help contribute these changes if this is something you're interested in