nxdefiant

fix status on /extended_fix topic for DGPS and RTK.

1

When status is DGPS or RTK fix the field status.status in the /extended_fix topic currently returns -1/STATUS_NO_FIX. This PR should fix that. For DGPS: My gpsd is GPSD_API_MAJOR_VERSION=6 and has...

gpsd_client rtk support

3

Hi, I noticed that gpsd_client reports -1 as status on the /extended_fix topic when status reported by gpsd is Real-Time Kinematic fixed or float. I also noticed that the RTK-types...

as I don't see much point in spinning the sensor when no one listens to it.

pose_follower: Driving backwards even with allow_backwards=false

2

Hi, the pose_follower is driving backwards with non holonomic robots even when the parameter allow_backwards is set to false. I think that PoseFollower::limitTwist() is missing a check for this condition,...

As also reported in #39 the pose_follower tends to oscillate left-right for nonholonomic robots when close to the translation tolerance (tolerance_trans). Consider the following situation as taken from a gazebo...