Chao Qu

https://github.com/KumarRobotics/ublox/blob/76ff4da9ec87f47fc8e7e2f556bc88026241c05a/ublox_gps/src/node.cpp#L1368 This is where imu is published, you can add a print and see if it is reached.

What about the callback? If callback is ok, then just hardcode enabled["esf_meas"] to true and see if outputs imu

What I meant is right after this line https://github.com/KumarRobotics/ublox/blob/76ff4da9ec87f47fc8e7e2f556bc88026241c05a/ublox_gps/src/node.cpp#L1367 and manually set enable to true on this line https://github.com/KumarRobotics/ublox/blob/76ff4da9ec87f47fc8e7e2f556bc88026241c05a/ublox_gps/src/node.cpp#L1340 I had a feeling that this is due to a config...

Replace ``` nh->param("publish/esf/meas", enabled["esf_meas"], enabled["esf"]); ``` with ``` enabled["esf_meas"] = true; ```

Take a look at the config folder and find the right config. I just sent that one as a referece.

@olmerg This looks interesting. I also have trouble finding 3D fix sometimes. I will take a look at it.

Try setting ``` publish: esf: true ```` in your config file. According to https://github.com/KumarRobotics/ublox/blob/76ff4da9ec87f47fc8e7e2f556bc88026241c05a/ublox_gps/src/node.cpp#L1340

@hortovanyi Hi, this repo is currently not being actively developed. If you can do a PR I'd be happy to merge.

Does this approach require joining the thread at each frame? I had a quick glance at the codebase and I found some questionable design choices that I don't quite understand....

I think the reason why everything is a shared_ptr is because there is a mutex in the Subject class. Again I fail to understand why this is needed. The only...